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09/19/2023
Heuristic Search for Path Finding with Refuelling
This paper considers a generalization of the Path Finding (PF) with refu...
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12/06/2022
Enhanced Multi-Objective A* with Partial Expansion
The Multi-Objective Shortest Path Problem, typically posed on a graph, d...
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10/06/2022
Cooperative Coverage with a Leader and a Wingmate in Communication-Constrained Environments
We consider a mission framework in which two unmanned vehicles (UVs), a ...
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05/09/2022
Informed Steiner Trees: Sampling and Pruning for Multi-Goal Path Finding in High Dimensions
We interleave sampling based motion planning methods with pruning ideas ...
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04/01/2022
Assisted Shortest Path Planning for a Convoy through a Repairable Network
In this article, we consider a multi-agent path planning problem in a pa...
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02/18/2022
Enhanced Multi-Objective A* Using Balanced Binary Search Trees
This work addresses the Multi-Objective Shortest Path Problem (MO-SPP): ...
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02/15/2022
A Lower Bounding Framework for Motion Planning amid Dynamic Obstacles in 2D
This work considers a Motion Planning Problem with Dynamic Obstacles (MP...
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02/14/2022
LIDAR data based Segmentation and Localization using Open Street Maps for Rural Roads
Accurate pose estimation is a fundamental ability that all mobile robots...
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09/29/2021
Subdimensional Expansion Using Attention-Based Learning For Multi-Agent Path Finding
Multi-Agent Path Finding (MAPF) finds conflict-free paths for multiple a...
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08/02/2021
Multi-objective Conflict-based Search Using Safe-interval Path Planning
This paper addresses a generalization of the well known multi-agent path...
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08/02/2021
Multi-Objective Path-Based D* Lite
Incremental graph search algorithms, such as D* Lite, reuse previous sea...
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05/21/2021
Bounds on Optimal Revisit Times in Persistent Monitoring Missions with a Distinct & Remote Service Station
Persistent monitoring missions require an up-to-date knowledge of the ch...
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03/18/2021
MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding
In multi-agent applications such as surveillance and logistics, fleets o...
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03/15/2021
S^*: A Heuristic Information-Based Approximation Framework for Multi-Goal Path Finding
We combine ideas from uni-directional and bi-directional heuristic searc...
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03/08/2021
Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions
Multi-agent path finding (MAPF) determines an ensemble of collision-free...
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02/02/2021
Subdimensional Expansion for Multi-objective Multi-agent Path Finding
Conventional multi-agent path planners typically determine a path that o...
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01/11/2021
Multi-objective Conflict-based Search for Multi-agent Path Finding
Conventional multi-agent path planners typically compute an ensemble of ...
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07/03/2019
An Approximation Algorithm for a Task Allocation, Sequencing and Scheduling Problem involving a Human-Robot Team
This article presents an approximation algorithm for a task allocation, ...
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09/11/2018
Path Planning Algorithms for a Car-Like Robot visiting a set of Waypoints with Field of View Constraints
This article considers two variants of a shortest path problem for a car...
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08/07/2018
Persistent Monitoring of Dynamically Changing Environments Using an Unmanned Vehicle
We consider the problem of planning a closed walk W for a UAV to persis...
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05/11/2018
Cooperative Planning for Fuel-constrained Aerial Vehicles and Ground-based Refueling Vehicles for Large-Scale Coverage
Low cost Unmanned Aerial Vehicles (UAVs) need multiple refuels to accomp...
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02/06/2018
A Distributed Hybrid Hardware-In-the-Loop Simulation framework for Infrastructure Enabled Autonomy
Infrastructure Enabled Autonomy (IEA) is a new paradigm that employs a d...
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02/05/2018