8 accepted papers
Classical graph of convex sets (GCS) formulations rely on pairwise edge costs, which are insufficient to capture higher-order geometric interactions relevant to trajectory refinement. This paper proposes a hyper graph of convex sets (HGCS), which extends GCS by introducing hyperedges over multiple v…
Vector fields handle nonholonomic motion planning as they provide reference orientation for robots. However, additionally incorporating curvature constraints becomes challenging, due to the interconnection between the design of the curvature-bounded vector field and the tracking controller under und…
Multi-robot systems can be extremely efficient for accomplishing team-wise tasks by acting concurrently and collaboratively. However, most existing methods either assume static task features or simply replan when environmental changes occur. This paper addresses the challenging problem of coordinati…
Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based approaches for scene reasoning and planning primarily focus
Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. To address this, we propose a novel distributed trajectory planning framework that bridges the gap between global path and local traj
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous spatial-temporal allocation method. Specifically, between a pair o…
Safe coordination of fixed-wing UAVs in unstructured environments poses challenges due to the intricate coupling of UAV cooperation, obstacle avoidance, and motion constraints. One task is time-critical coordination, which means that all UAVs can safely reach their destinations simultaneously. Exist
This letter 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 optimization problem, where a novel safe corridor is generated online to