相关论文: Well-Connected Set and Its Application to Multi-Ro…
Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
Coordinated multi-robot motion planning at intersections is key for safe mobility in roads, factories and warehouses. The rapidly exploring random tree (RRT) algorithms are popular in multi-robot motion planning. However, generating the…
This work considers the path planning problem for a team of identical robots evolving in a known environment. The robots should satisfy a global specification given as a Linear Temporal Logic (LTL) formula over a set of regions of interest.…
We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make this problem especially challenging. Prior work on…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions…
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 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…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
This study proposes LiP-LLM: integrating linear programming and dependency graph with large language models (LLMs) for multi-robot task planning. In order for multiple robots to perform tasks more efficiently, it is necessary to manage the…
Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…
We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on…
Automated storage and retrieval systems are principal components of modern production and warehouse facilities. In particular, automated guided vehicles nowadays substitute human-operated pallet trucks in transporting production materials…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
Graph-based multi-view clustering has achieved better performance than most non-graph approaches. However, in many real-world scenarios, the graph structure of data is not given or the quality of initial graph is poor. Additionally,…
Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the…
Nowadays, several real-world tasks require adequate environment coverage for maintaining communication between multiple robots, for example, target search tasks, environmental monitoring, and post-disaster rescues. In this study, we look…
Multiple mobile manipulators show superiority in the tasks requiring mobility and dexterity compared with a single robot, especially when manipulating/transporting bulky objects. However, closed-chain of the system, redundancy of each…
Connected multi-agent robotic systems (MRS) are prone to deadlocks in an obstacle environment where the robots can get stuck away from their desired locations under a smooth low-level control policy. Without an external intervention, often…