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09/12/2023
Inspection planning under execution uncertainty
Autonomous inspection tasks necessitate effective path-planning mechanis...
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05/19/2023
Terraforming – Environment Manipulation during Disruptions for Multi-Agent Pickup and Delivery
In automated warehouses, teams of mobile robots fulfill the packaging pr...
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05/16/2022
Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems
Robust motion planning entails computing a global motion plan that is sa...
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03/20/2022
Multi-Agent Terraforming: Efficient Multi-Agent Path Finding via Environment Manipulation
Multi-agent pathfinding (MAPF) is concerned with planning collision-free...
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02/09/2022
Leveraging Experience in Lifelong Multi-Agent Pathfinding
In Lifelong Multi-Agent Path Finding (L-MAPF) a team of agents performs ...
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10/17/2021
Coordinated Multi-Agent Pathfinding for Drones and Trucks over Road Networks
We address the problem of routing a team of drones and trucks over large...
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10/06/2021
Resolution-Optimal Motion Planning for Steerable Needles
Medical steerable needles can follow 3D curvilinear trajectories inside ...
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06/19/2021
When Efficiency meets Equity in Congestion Pricing and Revenue Refunding Schemes
Congestion pricing has long been hailed as a means to mitigate traffic c...
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03/31/2021
Balancing Fairness and Efficiency in Traffic Routing via Interpolated Traffic Assignment
System optimum (SO) routing, wherein the total travel time of all users ...
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11/17/2020
Near-Optimal Multi-Robot Motion Planning with Finite Sampling
An underlying structure in several sampling-based methods for continuous...
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11/06/2020
Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition
Multi-robot systems are uniquely well-suited to performing complex tasks...
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03/07/2020
Complexity of Planning
This is a chapter in the Encyclopedia of Robotics. It is devoted to the ...
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02/27/2020
On Local Computation for Optimization in Multi-Agent Systems
A number of prototypical optimization problems in multi-agent systems (e...
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09/26/2019
Efficient Large-Scale Multi-Drone Delivery Using Transit Networks
We consider the problem of controlling a large fleet of drones to delive...
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09/20/2019
Revisiting the Asymptotic Optimality of RRT*
RRT* is one of the most widely used sampling-based algorithms for asympt...
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09/13/2019
Sample Complexity of Probabilistic Roadmaps via ε-nets
We study fundamental theoretical aspects of probabilistic roadmaps (PRM)...
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09/12/2019
RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning
We present RRT2.0: a simple yet efficient tree-based planner for asympto...
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03/08/2019
Scalable and Congestion-aware Routing for Autonomous Mobility-on-Demand via Frank-Wolfe Optimization
We consider the problem of vehicle routing for Autonomous Mobility-on-De...
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03/03/2019
dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning
Many exciting robotic applications require multiple robots with many deg...
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10/29/2018
Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups
Rearranging objects on a planar surface arises in a variety of robotic a...
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09/19/2018
Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation
The Rapidly-exploring Random Tree (RRT) algorithm has been one of the mo...
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06/29/2017