16 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
We present a hierarchical RRT-based motion planning strategy, Hierarchical Annotated-Skeleton Guided RRT (HAS-RRT), guided by a workspace skeleton, to solve motion planning problems. HAS-RRTprovides up to a 91% runtime reduction and builds a tree at least 30% smaller than competitors while still fin
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-agent path finding is a computationally challenging problem that is relevant to many areas in robotics. Experience-based planning methods have been shown to significantly reduce the planning time of this problem, but the type of problem in which experience can be used has so far been limited t…
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
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find the desired solutions fast. However, sometimes the skeleton
When a learning solution is needed for different robots, a model is often trained for each robot geometry, even if the robotic task is the same and the robots are structurally similar. In this paper, we address the problem of transfer learning of swept volume predictors for the motion of articulated…
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
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Thus, they cannot accomplish some practical tasks such as providing service to cover an area for an extended time, also known as persistent covering. Algorithmic approaches are limited mos
Computation of the volume of space required for a robot to execute a sweeping motion from a start to a goal has long been identified as a critical primitive operation in both task and motion planning. However, swept volume computation is particularly challenging for multi-link robots with geometric…
Visibility integrity (VI) is a measurement of similarity between the visibilities of regions. It can be used to approximate the visibility of coherently moving targets, called group visibility. It has been shown that computing visibility integrity using agglomerative clustering takes O(n4 log n) for
Sampling-based motion planning is the state-of-the-art technique for solving challenging motion planning problems in a wide variety of domains. While generally successful, their performance suffers from increasing problem complexity. In many cases, the full problem complexity is not needed for the e…
We present a reactive multi-agent push system for a large set of objects. The behavior for the pushing agents consists of: 1) selecting and updating an object set to push, 2) reaching positions near the objects to start influencing, 3) pushing the objects along a path to the goal region, and 4) regr…