相关论文: pc-dbCBS: Kinodynamic Motion Planning of Physicall…

Motion capture has become increasingly important, not only in computer animation but also in emerging fields like the virtual reality, bioinformatics, and humanoid training. Capturing outdoor environments offers extended horizon scenes but…

Conflict-Based Search (CBS) is a powerful algorithmic framework for optimally solving classical multi-agent path finding (MAPF) problems, where time is discretized into the time steps. Continuous-time CBS (CCBS) is a recently proposed…

We consider multi-agent transport task problems where, e.g. in a factory setting, items have to be delivered from a given start to a goal pose while the delivering robots need to avoid collisions with each other on the floor. We introduce a…

Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and…

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 work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…

The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…

Motion planning is a mature area of research in robotics with many well-established methods based on optimization or sampling the state space, suitable for solving kinematic motion planning. However, when dynamic motions under constraints…

In this work, we introduce BBoE, a bidirectional, kinodynamic, sampling-based motion planner that consistently and quickly finds low-cost solutions in environments with varying obstacle clutter. The algorithm combines exploration and…

Autonomous navigation has played an increasingly significant role in quadruped robot system. However, most existing works on quadruped robots navigation using traditional search-based or sample-based methods do not consider the kinodynamic…

Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…

Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…

Assembly processes involving humans and robots are challenging scenarios because the individual activities and access to shared workspace have to be coordinated. Fixed robot programs leave no room to diverge from a fixed protocol. Working…

Multi-Agent Path Finding (MAPF) is the problem of finding collision-free paths for multiple agents from their start locations to end locations. We consider an extension to this problem, Precedence Constrained Multi-Agent Path Finding…

As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robots. Conflict-Based Search (CBS) is a popular method for…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

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…

Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…

Tethered robots play a pivotal role in specialized environments such as disaster response and underground exploration, where their stable power supply and reliable communication offer unparalleled advantages. However, their motion planning…

Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and…