
Optimizing Space Utilization for More Effective MultiRobot Path Planning
We perform a systematic exploration of the principle of Space Utilizatio...
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Capacitated Vehicle Routing with Target Geometric Constraints
We investigate the capacitated vehicle routing problem (CVRP) under a ro...
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On Minimizing the Number of Running Buffers for Tabletop Rearrangement
For tabletop rearrangement problems with overhand grasps, storage space ...
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Rearrangement on Lattices with PicknSwaps: Optimality Structures and Efficient Algorithms
We investigate a class of multiobject rearrangement problems in which a...
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Visual Foresight Tree for Object Retrieval from Clutter with Nonprehensile Rearrangement
This paper considers the problem of retrieving an object from a set of t...
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Spatial and Temporal Splitting Heuristics for MultiRobot Motion Planning
In this work, we systematically examine the application of spatiotempor...
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Sensor Placement for Globally Optimal Coverage of 3DEmbedded Surfaces
We carry out a structural and algorithmic study of a mobile sensor cover...
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Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient NonMonotone Informed Search
Object rearrangement is a widelyapplicable and challenging task for rob...
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DIPN: Deep Interaction Prediction Network with Application to Clutter Removal
We propose a Deep Interaction Prediction Network (DIPN) for learning to ...
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Computing HighQuality Clutter Removal Solutions for Multiple Robots
We investigate the task and motion planning problem of clearing clutter ...
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Optimally Guarding Perimeters and Regions with Mobile Range Sensors
We investigate the problem of using mobile robots equipped with 2D range...
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On Rearrangement of Items Stored in Stacks
There are n > 2 stacks, each filled with d items (its full capacity), an...
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Toward Fast and Optimal Robotic PickandPlace on a Moving Conveyor
Robotic pickandplace (PnP) operations on moving conveyors find a wide ...
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Optimal Perimeter Guarding with Heterogeneous Robot Teams: Complexity Analysis and Effective Algorithms
We perform structural and algorithmic studies of significantly generaliz...
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Taming Combinatorial Challenges in Optimal Clutter Removal Tasks
We examine an important combinatorial challenge in clearing clutter usin...
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Efficient Algorithms for Optimal Perimeter Guarding
We investigate the problem of optimally assigning a large number of robo...
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DDM*: Fast NearOptimal MultiRobot Path Planning using DiversifiedPath and Optimal SubProblem Solution Database Heuristics
We propose a novel centralized and decoupled algorithm, DDM*, for solvin...
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Towards Robust Product Packing with a Minimalistic EndEffector
Advances in sensor technologies, object detection algorithms, planning f...
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Integer Programming as a General Solution Methodology for PathBased Optimization in Robotics: Principles, Best Practices, and Applications
Integer programming (IP) has proven to be highly effective in solving ma...
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Integer Programming as a General Solution Methodology for PathBased Optimization in Robotics: Principles and Best Practices
The resolution of many robotics problems demands the optimization of cer...
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Fast, HighQuality DualArm Rearrangement in Synchronous, Monotone Tabletop Setups
Rearranging objects on a planar surface arises in a variety of robotic a...
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Coordinating the Motion of Labeled Discs with Optimality Guarantees under Extreme Density
We push the limit in planning collisionfree motions for routing uniform...
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Constant Factor Time Optimal MultiRobot Routing on HighDimensional Grids in Mostly SubQuadratic Time
Let G = (V, E) be an m_1 ×...× m_k grid. Assuming that each v ∈ V is occ...
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Complexity Results and Fast Methods for Optimal Tabletop Rearrangement with Overhand Grasps
This paper studies the underlying combinatorial structure of a class of ...
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SEAR: A PolynomialTime MultiRobot Path Planning Algorithm with Expected ConstantFactor Optimality Guarantee
We study the labeled multirobot path planning problem in continuous 2D ...
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SEAR: A PolynomialTime Expected ConstantFactor Optimal Algorithmic Framework for MultiRobot Path Planning
This work studies the labeled multirobot path and motion planning probl...
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Planning Optimal Paths for Multiple Robots on Graphs
In this paper, we study the problem of optimal multirobot path planning...
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Distance Optimal Formation Control on Graphs with a Tight Convergence Time Guarantee
For the task of moving a set of indistinguishable agents on a connected ...
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Jingjin Yu
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