相关论文: Hierarchical Search-Based Cooperative Motion Plann…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and…

This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…

Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…

This paper presents a new swarm intelligence-based approach to deal with the cooperative path planning problem of unmanned aerial vehicles (UAVs), which is essential for the automatic inspection of infrastructure. The approach uses a 3D…

Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…

Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…

This paper investigates Multi-Agent Path Finding Among Movable Obstacles (M-PAMO), which seeks collision-free paths for multiple agents from their start to goal locations among static and movable obstacles. M-PAMO arises in logistics and…

Intelligent autonomous path planning is essential for enhancing the exploration efficiency of mobile robots operating in uneven terrains like planetary surfaces and off-road environments.In this paper, we propose the NNPP model for…

Anticipating possible future deployment of connected and automated vehicles (CAVs), cooperative autonomous driving at intersections has been studied by many works in control theory and intelligent transportation across decades.…

MAPF is a core coordination problem for large robot fleets in automated warehouses and logistics. Existing approaches are typically either open-loop planners, which generate fixed trajectories and struggle to handle disturbances, or…

This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…

Motion planning seeks a collision-free path in a configuration space (C-space), representing all possible robot configurations in the environment. As it is challenging to construct a C-space explicitly for a high-dimensional robot, we…

We propose an efficient motion planning method designed to efficiently find collision-free trajectories for multiple manipulators. While multi-manipulator systems offer significant advantages, coordinating their motions is computationally…

Cooperative autonomous robotic systems have significant potential for executing complex multi-task missions across space, air, ground, and maritime domains. But they commonly operate in remote, dynamic and hazardous environments, requiring…

In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) is…

Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…

Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation and defence operations. A major factor in the growth in use and…

Multi-agent path planning (MAPP) is the problem of planning collision-free trajectories from start to goal locations for a team of agents. This work explores a relatively unexplored setting of MAPP where streams of agents have to go through…

Multi-Agent Path Finding (MAPF), which focuses on finding collision-free paths for multiple robots, is crucial for applications ranging from aerial swarms to warehouse automation. Solving MAPF is NP-hard so learning-based approaches for…