Akmaral Moldagalieva — accepted AI-conference papers

2026

db-ECBS: Interaction-Aware Multirobot Kinodynamic Motion Planning (Abstract Reprint)

Akmaral Moldagalieva, Joaquim Ortiz-Haro, Wolfgang Hönig

AAAI 2026technical

Kinodynamic motion planning for a multirobot system with different dynamics and actuation limits is a challenging problem. The difficulty increases with the presence of aerodynamic interaction forces that occur when aerial robots fly in close proximity. Due to these complexities, existing planners e

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2024

db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning

Akmaral Moldagalieva, Joaquim Ortiz-Haro, Marc Toussaint, Wolfgang Hönig

ICRA 2024poster

This paper presents a multi-robot kinodynamic motion planner that enables a team of robots with different dynamics, actuation limits, and shapes to reach their goals in challenging environments. We solve this problem by combining Conflict-Based Search (CBS), a multi-agent path finding method, and di…

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