相关论文: Hierarchical Large Scale Multirobot Path (Re)Plann…

Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…

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…

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…

This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to…

We present a novel algorithm for large-scale Multi-Agent Path Finding (MAPF) that enables fast, scalable planning in dynamic environments such as automated warehouses. Our approach introduces finite-horizon hierarchical factorization, a…

In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as…

Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…

Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…

Noisy observations coupled with nonlinear dynamics pose one of the biggest challenges in robot motion planning. By decomposing nonlinear dynamics into a discrete set of local dynamics models, hybrid dynamics provide a natural way to model…

In this paper, we show how model checking can be used to create multi-step plans for a differential drive wheeled robot so that it can avoid immediate danger. Using a small, purpose built model checking algorithm in situ we generate plans…

Learning-based path planning is becoming a promising robot navigation methodology due to its adaptability to various environments. However, the expensive computing and storage associated with networks impose significant challenges for their…

Achieving long-term autonomy for mobile robots operating in real-world unstructured environments such as farms remains a significant challenge. This is made increasingly complex in the presence of moving humans or livestock. These…

Recent years have seen an increasing number of deployment of fleets of autonomous vehicles. As the problem scales up, in terms of autonomous vehicles number and complexity of their objectives, there is a growing need for decision-support…

Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…

In this paper we present a method for automatically planning robust 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…

Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…

This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…

This document is a thesis on the subject of single-agent on-line path planning in continuous,unpredictable and highly dynamic environments. The problem is finding and traversing a collision-free path for a holonomic robot, without…

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…

Multi-robot task planning requires decomposing natural-language instructions into executable actions for heterogeneous robot teams. Conventional Planning Domain Definition Language (PDDL) planners provide rigorous guarantees but struggle to…