相关论文: SMUG Planner: A Safe Multi-Goal Planner for Mobile…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface…
This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
Merging onto a highway is a complex driving task that requires identifying a safe gap, adjusting speed, often interactions to create a merging gap, and completing the merge maneuver within a limited time window while maintaining safety and…
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…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
In this paper, we present a hierarchical path planning framework called SG-RL (subgoal graphs-reinforcement learning), to plan rational paths for agents maneuvering in continuous and uncertain environments. By "rational", we mean (1)…
This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission.…
Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
Mainstream autonomous exploration methods usually perform excessively-repeated explorations for the same region, leading to long exploration time and exploration trajectory in complex scenes. To handle this issue, we propose a novel…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
We consider the problem of automatic generation of control strategies for robotic vehicles given a set of high-level mission specifications, such as "Vehicle x must eventually visit a target region and then return to a base," "Regions A and…
The double coverage problem focuses on determining efficient, collision-free routes for multiple robots to simultaneously cover linear features (e.g., surface cracks or road routes) and survey areas (e.g., parking lots or local regions) in…
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…