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06/26/2023
Efficient Heuristics for Multi-Robot Path Planning in Crowded Environments
Optimal Multi-Robot Path Planning (MRPP) has garnered significant attent...
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06/25/2023
Optimal and Stable Multi-Layer Object Rearrangement on a Tabletop
Object rearrangement is a fundamental sub-task in accomplishing a great ...
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06/25/2023
Effectively Rearranging Heterogeneous Objects on Cluttered Tabletops
Effectively rearranging heterogeneous objects constitutes a high-utility...
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04/04/2023
Minimizing Running Buffers for Tabletop Object Rearrangement: Complexity, Fast Algorithms, and Applications
For rearranging objects on tabletops with overhand grasps, temporarily r...
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02/20/2023
Efficient Algorithms for Boundary Defense with Heterogeneous Defenders
This paper studies the problem of defending (1D and 2D) boundaries again...
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02/08/2023
Optimal Allocation of Many Robot Guards for Sweep-Line Coverage
We study the problem of allocating many mobile robots for the execution ...
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02/02/2023
Toward Efficient Physical and Algorithmic Design of Automated Garages
Parking in large metropolitan areas is often a time-consuming task with ...
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10/04/2022
Persistent Homology Guided Monte-Carlo Tree Search for Effective Non-Prehensile Manipulation
Performing object retrieval tasks in messy real-world workspaces involve...
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09/12/2022
On the Utility of Buffers in Pick-n-Swap Based Lattice Rearrangement
We investigate the utility of employing multiple buffers in solving a cl...
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08/24/2022
Robot Motion Planning as Video Prediction: A Spatio-Temporal Neural Network-based Motion Planner
Neural network (NN)-based methods have emerged as an attractive approach...
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07/17/2022
Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement
We investigate the problem of coordinating two robot arms to solve non-m...
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07/14/2022
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning
We propose a novel Parallel Monte Carlo tree search with Batched Simulat...
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07/06/2022
Polynomial Time Near-Time-Optimal Multi-Robot Path Planning in Three Dimensions with Applications to Large-Scale UAV Coordination
For enabling efficient, large-scale coordination of unmanned aerial vehi...
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02/03/2022
Stackelberg Strategic Guidance for Heterogeneous Robots Collaboration
In this study, we explore the application of game theory, in particular ...
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02/03/2022
Self-Supervised Monte Carlo Tree Search Learning for Object Retrieval in Clutter
In this study, working with the task of object retrieval in clutter, we ...
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01/27/2022
Budgeted Steiner Networks: Three Terminals with Equal Path Weights
Given a set of terminals in 2D/3D, the network with the shortest total l...
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01/22/2022
Sub-1.5 Time-Optimal Multi-Robot Path Planning on Grids in Polynomial Time
Graph-based multi-robot path planning (MRPP) is NP-hard to optimally sol...
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11/17/2021
Barrier Forming: Separating Polygonal Sets with Minimum Number of Lines
In this work, we carry out structural and algorithmic studies of a probl...
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10/24/2021
Fast High-Quality Tabletop Rearrangement in Bounded Workspace
In this paper, we examine the problem of rearranging many objects on a t...
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09/10/2021
Optimizing Space Utilization for More Effective Multi-Robot Path Planning
We perform a systematic exploration of the principle of Space Utilizatio...
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07/21/2021
Capacitated Vehicle Routing with Target Geometric Constraints
We investigate the capacitated vehicle routing problem (CVRP) under a ro...
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05/13/2021
On Minimizing the Number of Running Buffers for Tabletop Rearrangement
For tabletop rearrangement problems with overhand grasps, storage space ...
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05/11/2021
Rearrangement on Lattices with Pick-n-Swaps: Optimality Structures and Efficient Algorithms
We investigate a class of multi-object rearrangement problems in which a...
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05/06/2021
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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03/25/2021
Spatial and Temporal Splitting Heuristics for Multi-Robot Motion Planning
In this work, we systematically examine the application of spatio-tempor...
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03/18/2021
Sensor Placement for Globally Optimal Coverage of 3D-Embedded Surfaces
We carry out a structural and algorithmic study of a mobile sensor cover...
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01/28/2021
Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search
Object rearrangement is a widely-applicable and challenging task for rob...
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11/09/2020
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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07/09/2020
Computing High-Quality Clutter Removal Solutions for Multiple Robots
We investigate the task and motion planning problem of clearing clutter ...
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02/19/2020
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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02/12/2020
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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12/17/2019
Toward Fast and Optimal Robotic Pick-and-Place on a Moving Conveyor
Robotic pick-and-place (PnP) operations on moving conveyors find a wide ...
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12/17/2019
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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05/31/2019
Taming Combinatorial Challenges in Optimal Clutter Removal Tasks
We examine an important combinatorial challenge in clearing clutter usin...
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05/11/2019
Efficient Algorithms for Optimal Perimeter Guarding
We investigate the problem of optimally assigning a large number of robo...
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04/04/2019
DDM*: Fast Near-Optimal Multi-Robot Path Planning using Diversified-Path and Optimal Sub-Problem Solution Database Heuristics
We propose a novel centralized and decoupled algorithm, DDM*, for solvin...
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03/03/2019
Towards Robust Product Packing with a Minimalistic End-Effector
Advances in sensor technologies, object detection algorithms, planning f...
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02/07/2019
Integer Programming as a General Solution Methodology for Path-Based Optimization in Robotics: Principles, Best Practices, and Applications
Integer programming (IP) has proven to be highly effective in solving ma...
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02/07/2019
Integer Programming as a General Solution Methodology for Path-Based Optimization in Robotics: Principles and Best Practices
The resolution of many robotics problems demands the optimization of cer...
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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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07/09/2018
Coordinating the Motion of Labeled Discs with Optimality Guarantees under Extreme Density
We push the limit in planning collision-free motions for routing uniform...
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01/31/2018
Constant Factor Time Optimal Multi-Robot Routing on High-Dimensional Grids in Mostly Sub-Quadratic Time
Let G = (V, E) be an m_1 ×...× m_k grid. Assuming that each v ∈ V is occ...
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11/17/2017
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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09/24/2017
SEAR: A Polynomial-Time Multi-Robot Path Planning Algorithm with Expected Constant-Factor Optimality Guarantee
We study the labeled multi-robot path planning problem in continuous 2D ...
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09/24/2017
SEAR: A Polynomial-Time Expected Constant-Factor Optimal Algorithmic Framework for Multi-Robot Path Planning
This work studies the labeled multi-robot path and motion planning probl...
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04/17/2012
Planning Optimal Paths for Multiple Robots on Graphs
In this paper, we study the problem of optimal multi-robot path planning...
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04/17/2012
