10 accepted papers
This work presents Kinodynamic Adaptive Robot Coordination (K-ARC), a novel algorithm for multi-robot kino- dynamic planning. Our experimental results show the capability of K-ARC to plan for up to 32 planar mobile robots, while achieving up to an order of magnitude of speed-up compared to previous …
In this work, we propose a method for multiple mobile robot motion planning that efficiently plans for robot teams up to 128 robots (an order of magnitude larger than existing state-of-the-art methods) in congested settings with narrow passages in the environment. We achieve this improvement in scal
This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and the solutions represent the robot motions required to resolve
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow passages that robots must pass through, like warehouse aisles w
In this letter, we present the following optimal multi-agent pathfinding (MAPF) algorithms: Hierarchical Composition Conflict-Based Search, Parallel Hierarchical Composition Conflict-Based Search, and Dynamic Parallel Hierarchical Composition Conflict-Based Search. MAPF is the task of finding an opt
Multi-Agent Motion Planning (MAMP) is the problem of computing feasible paths for a set of agents each with individual start and goal states within a continuous state space. Existing approaches can be split into coupled methods which provide optimal solutions but struggle with scalability or decoupl
We present a multi-robot integrated task and motion method capable of handling sequential subtask dependencies within multiply decomposable tasks. We map the multi-robot pathfinding method, Conflict Based Search, to task planning and integrate this with motion planning to create TMP-CBS. TMP-CBS cou
This letter describes a framework for multi-robot problems that require or utilize interactions between robots. Solutions consider interactions on a motion planning level to determine the feasibility and cost of the multi-robot team solution. Modeling these problems with current integrated task and