相关论文: Multi-robot Motion Planning based on Nets-within-N…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
This paper describes Motion Planning Networks (MPNet), a computationally efficient, learning-based neural planner for solving motion planning problems. MPNet uses neural networks to learn general near-optimal heuristics for path planning in…
It is well known that the complex system operation requires the use of new scientific tools and computer simulation. This paper presents a modular approach for modeling and analysis of the complex systems (in communication or transport…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
This paper presents a human-robot trust integrated task allocation and motion planning framework for multi-robot systems (MRS) in performing a set of tasks concurrently. A set of task specifications in parallel are conjuncted with MRS to…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
We present a framework for Multi-Robot Task Allocation (MRTA) in heterogeneous teams performing long-endurance missions in dynamic scenarios. Given the limited battery of robots, especially for aerial vehicles, we allow for robot recharges…
Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
Multirobot systems for covering environments are increasingly used in applications like cleaning, industrial inspection, patrolling, and precision agriculture. The problem of covering a given environment using multiple robots can be…
Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented…
Neural network (NN)-based methods have emerged as an attractive approach for robot motion planning due to strong learning capabilities of NN models and their inherently high parallelism. Despite the current development in this direction,…