7 accepted papers
We study GCS-TSP, a variant of the Traveling Salesman Problem (TSP) defined over a Graph of Convex Sets (GCS) - a powerful representation for trajectory planning that decomposes the configuration space into convex regions connected by a sparse graph. In GCS-TSP, edge costs are not fixed but depend o
We address the Multi-Robot Motion Planning (MRMP) problem of computing collision-free trajectories for multiple robots in shared continuous environments. While existing frameworks effectively decompose MRMP into singlerobot subproblems, spatiotemporal motion planning with dynamic obstacles remains c
We study graph-based Multi-Robot Coverage Path Planning (MCPP) that aims to compute coverage paths for multiple robots to cover all vertices of a given 2D grid terrain graph G. Existing graph-based MCPP algorithms first compute a tree cover on G---a forest of multiple trees that cover all vertices--…
We investigate time-optimal Multi-Robot Coverage Path Planning (MCPP) for both unweighted and weighted terrains, which aims to minimize the coverage time, defined as the maximum travel time of all robots. Specifically, we focus on a reduction from MCPP to Min-Max Rooted Tree Cover (MMRTC). For the f
Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, multirobot systems offer significant advantages. In this letter, we propose Turn-minimizing Multirobot Spanning Tree Coverage Star (TMST
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this letter, we focus on the multi-robot coverage path planning (mCPP) problem in large-scale planar areas with random dynami
For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC∗ for multi-robot coverage path planning (mCPP) based on spiral spanning tree coverage (Spiral-STC). Our algorithm incorporates strict physical constrain…