相关论文: Hierarchical Trajectory (Re)Planning for a Large S…

We consider a large-scale multi-robot path planning problem in a cluttered environment. Our approach achieves real-time replanning by dividing the workspace into cells and utilizing a hierarchical planner. Specifically, we propose novel…

Robot swarms navigating through unknown obstacle environments are an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making,…

Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…

This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…

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…

In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…

Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…

We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…

Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…

Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the state-of-the-art of aerial swarms in navigation speed and robustness is of tremendous benefit.…

Robotic shepherding is a bio-inspired approach to autonomously guiding a swarm of agents towards a desired location. The research area has earned increasing research interest recently due to the efficacy of controlling a large number of…

This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…

This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…

This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…

Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory planning algorithm for a quadrotor swarm that operates…

Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable…

An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…

Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…