相关论文: S&Reg: End-to-End Learning-Based Model for Multi-G…

We consider the problem of online reinforcement learning for the Stochastic Shortest Path (SSP) problem modeled as an unknown MDP with an absorbing state. We propose PSRL-SSP, a simple posterior sampling-based reinforcement learning…

Path planning is a fundamental problem in road networks, with the goal of finding a path that optimizes objectives such as shortest distance or minimal travel time. Existing methods typically use graph indexing to ensure the efficiency of…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…

In this paper we look at $k$-stroll, point-to-point orienteering, as well as the deadline TSP problem on graphs with bounded doubling dimension and bounded treewidth and present approximation schemes for them. Given a weighted graph…

Multi-goal path finding (MGPF) aims to find a closed and collision-free path to visit a sequence of goals orderly. As a physical travelling salesman problem, an undirected complete graph with accurate weights is crucial for determining the…

Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning…

The problem of mixed static and dynamic obstacle avoidance is essential for path planning in highly dynamic environment. However, the paths formed by grid edges can be longer than the true shortest paths in the terrain since their headings…

Large environments are challenging for path planning algorithms as the size of the configuration space increases. Furthermore, if the environment is mainly unexplored, large amounts of the path are planned through unknown areas. Hence, a…

In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…

Predicting future trajectories of road agents is a critical task for autonomous driving. Recent goal-based trajectory prediction methods, such as DenseTNT and PECNet, have shown good performance on prediction tasks on public datasets.…

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…

Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…

Existing neural constructive solvers for routing problems have predominantly employed transformer architectures, conceptualizing the route construction as a set-to-sequence learning task. However, their efficacy has primarily been…

Solutions to the Traveling Salesperson Problem (TSP) have practical applications to processes in transportation, logistics, and automation, yet must be computed with minimal delay to satisfy the real-time nature of the underlying tasks.…

In recent years, end-to-end autonomous driving has attracted increasing attention for its ability to jointly model perception, prediction, and planning within a unified framework. However, most existing approaches underutilize the online…

The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…

Recently, end-to-end learning frameworks are gaining prevalence in the field of robot control. These frameworks input states/images and directly predict the torques or the action parameters. However, these approaches are often critiqued due…

Sampling-based motion planners have proven to be efficient solutions to a variety of high-dimensional, geometrically complex motion planning problems with applications in several domains. The traditional view of these approaches is that…

Many popular reinforcement learning problems (e.g., navigation in a maze, some Atari games, mountain car) are instances of the episodic setting under its stochastic shortest path (SSP) formulation, where an agent has to achieve a goal state…