相关论文: Offline Task Assistance Planning on a Graph:Theore…
We report a globally-optimal approach to robotic path planning under uncertainty, based on the theory of quantitative measures of formal languages. A significant generalization to the language-measure-theoretic path planning algorithm…
Today, robotics is an auspicious and fast-growing branch of technology that involves the manufacturing, design, and maintenance of robot machines that can operate in an autonomous fashion and can be used in a wide variety of applications…
To move through the world, mobile robots typically use a receding-horizon strategy, wherein they execute an old plan while computing a new plan to incorporate new sensor information. A plan should be dynamically feasible, meaning it obeys…
Deterministic methods for motion planning guarantee safety amidst uncertainty in obstacle locations by trying to restrict the robot from operating in any possible location that an obstacle could be in. Unfortunately, this can result in…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
This work presents an approach to learn path planning for robot social navigation by demonstration. We make use of Fully Convolutional Neural Networks (FCNs) to learn from expert's path demonstrations a map that marks a feasible path to the…
This article presents MAPS$^2$ : a distributed algorithm that allows multi-robot systems to deliver coupled tasks expressed as Signal Temporal Logic (STL) constraints. Classical control theoretical tools addressing STL constraints either…
Two variants of multi-robot search for a stationary object in a priori known environment represented by a graph are studied in the paper. The first one is a generalization of the Traveling Deliveryman Problem where more than one deliveryman…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
Individuals working towards a goal often exhibit time inconsistent behavior, making plans and then failing to follow through. One well-known model of such behavioral anomalies is present-bias discounting: individuals over-weight present…
We consider a probabilistic model for large-scale task allocation problems for multi-agent systems, aiming to determine an optimal deployment strategy that minimizes the overall transport cost. Specifically, we assign transportation agents…
We study a problem where k autonomous mobile agents are initially located on distinct nodes of a weighted graph (with n nodes and m edges). Each autonomous mobile agent has a predefined velocity and is only allowed to move along the edges…
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects…
Conflict-Based Search is one of the most popular methods for multi-agent path finding. Though it is complete and optimal, it does not scale well. Recent works have been proposed to accelerate it by introducing various heuristics. However,…
Two cooperating, autonomous mobile robots with arbitrary nonzero max speeds are placed at arbitrary initial positions in the plane. A remotely detonated bomb is discovered at some source location and must be moved to a safe distance away…
In this paper we consider several problems concerning packet routing in distributed systems. Each problem is formulated using terms from Graph Theory and for each problem we present efficient, novel, algorithmic techniques for computing…
This paper presents a collection of path planning algorithms for real-time movement of multiple robots across a Robotic Mobile Fulfillment System (RMFS). Robots are assigned to move storage units to pickers at working stations instead of…
We study distributed planning for multi-robot systems to provide optimal service to cooperative tasks that are distributed over space and time. Each task requires service by sufficiently many robots at the specified location within the…
Optimal motion planning involves obstacles avoidance where path planning is the key to success in optimal motion planning. Due to the computational demands, most of the path planning algorithms can not be employed for real-time based…
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…