相关论文: Efficient Path Planning In Manipulation Planning P…

Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…

Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…

We study the iterative refinement of path planning for multiple robots, known as multi-agent pathfinding (MAPF). Given a graph, agents, their initial locations, and destinations, a solution of MAPF is a set of paths without collisions.…

We focus on the problem of long-range dynamic replanning for off-road autonomous vehicles, where a robot plans paths through a previously unobserved environment while continuously receiving noisy local observations. An effective approach…

We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…

Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…

We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse…

Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…

This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…

Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…

Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…

In Lifelong Multi-Agent Path Finding (L-MAPF) a team of agents performs a stream of tasks consisting of multiple locations to be visited by the agents on a shared graph while avoiding collisions with one another. L-MAPF is typically tackled…

Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…

Autonomous agents such as self-driving cars or parcel robots need to recognize and avoid possible collisions with obstacles in order to move successfully in their environment. Humans, however, have learned to predict movements intuitively…

Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…

With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…

Automated parking stands as a highly anticipated application of autonomous driving technology. However, existing path planning methodologies fall short of addressing this need due to their incapability to handle the diverse and complex…

An embodied task such as embodied question answering (EmbodiedQA), requires an agent to explore the environment and collect clues to answer a given question that related with specific objects in the scene. The solution of such task usually…

Many potential applications of reinforcement learning (RL) are stymied by the large numbers of samples required to learn an effective policy. This is especially true when applying RL to real-world control tasks, e.g. in the sciences or…

A route planning query has many real-world applications and has been studied extensively in outdoor spaces such as road networks or Euclidean space. Despite its many applications in indoor venues (e.g., shopping centres, libraries,…