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07/27/2023
Evaluation of Safety Constraints in Autonomous Navigation with Deep Reinforcement Learning
While reinforcement learning algorithms have had great success in the fi...
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07/25/2023
Monte-Carlo Tree Search for Multi-Agent Pathfinding: Preliminary Results
In this work we study a well-known and challenging problem of Multi-agen...
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02/01/2023
Safe Interval Path Planning With Kinodynamic Constraints
Safe Interval Path Planning (SIPP) is a powerful algorithm for solving s...
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12/29/2022
Policy Optimization to Learn Adaptive Motion Primitives in Path Planning with Dynamic Obstacles
This paper addresses the kinodynamic motion planning for non-holonomic r...
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12/22/2022
TransPath: Learning Heuristics For Grid-Based Pathfinding via Transformers
Heuristic search algorithms, e.g. A*, are the commonly used tools for pa...
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12/12/2022
Evaluation of RGB-D SLAM in Large Indoor Environments
Simultaneous localization and mapping (SLAM) is one of the key component...
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09/20/2022
Analysis Of The Anytime MAPF Solvers Based On The Combination Of Conflict-Based Search (CBS) and Focal Search (FS)
Conflict-Based Search (CBS) is a widely used algorithm for solving multi...
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09/15/2022
2.5D Mapping, Pathfinding and Path Following For Navigation Of A Differential Drive Robot In Uneven Terrain
Safe navigation in uneven terrains is an important problem in robotic re...
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08/25/2022
Towards A Complete Multi-Agent Pathfinding Algorithm For Large Agents
Multi-agent pathfinding (MAPF) is a challenging problem which is hard to...
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06/22/2022
POGEMA: Partially Observable Grid Environment for Multiple Agents
We introduce POGEMA (https://github.com/AIRI-Institute/pogema) a sandbox...
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10/18/2021
Enhancing exploration algorithms for navigation with visual SLAM
Exploration is an important step in autonomous navigation of robotic sys...
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08/15/2021
Augmenting GRIPS with Heuristic Sampling for Planning Feasible Trajectories of a Car-Like Robot
Kinodynamic motion planning for non-holomonic mobile robots is a challen...
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08/13/2021
Q-Mixing Network for Multi-Agent Pathfinding in Partially Observable Grid Environments
In this paper, we consider the problem of multi-agent navigation in part...
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08/11/2021
Prioritized SIPP for Multi-Agent Path Finding With Kinematic Constraints
Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics a...
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07/01/2021
Distributed Multi-agent Navigation Based on Reciprocal Collision Avoidance and Locally Confined Multi-agent Path Finding
Avoiding collisions is the core problem in multi-agent navigation. In de...
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05/31/2021
MAOMaps: A Photo-Realistic Benchmark For vSLAM and Map Merging Quality Assessment
Running numerous experiments in simulation is a necessary step before de...
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04/14/2021
Towards Time-Optimal Any-Angle Path Planning With Dynamic Obstacles
Path finding is a well-studied problem in AI, which is often framed as g...
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01/24/2021
Improving Continuous-time Conflict Based Search
Conflict-Based Search (CBS) is a powerful algorithmic framework for opti...
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09/12/2020
Map-merging Algorithms for Visual SLAM: Feasibility Study and Empirical Evaluation
Simultaneous localization and mapping, especially the one relying solely...
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08/03/2020
A Combination of Theta*, ORCA and Push and Rotate for Multi-agent Navigation
We study the problem of multi-agent navigation in static environments wh...
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08/03/2020
Planning to Score a Goal in Robotic Football with Heuristic Search
This paper considers a problem of planning an attack in robotic football...
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06/01/2020
Revisiting Bounded-Suboptimal Safe Interval Path Planning
Safe-interval path planning (SIPP) is a powerful algorithm for finding a...
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11/24/2019
Prioritized Multi-agent Path Finding for Differential Drive Robots
Methods for centralized planning of the collision-free trajectories for ...
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08/05/2019
GAN Path Finder: Preliminary results
2D path planning in static environment is a well-known problem and one o...
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07/16/2019
Real-time Vision-based Depth Reconstruction with NVidia Jetson
Vision-based depth reconstruction is a challenging problem extensively s...
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06/17/2019
Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results
We study the navigation problem for a robot moving amidst static and dyn...
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01/16/2019
Multi-Agent Pathfinding (MAPF) with Continuous Time
MAPF is the problem of finding paths for multiple agents such that every...
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11/02/2018
eLIAN: Enhanced Algorithm for Angle-constrained Path Finding
Problem of finding 2D paths of special shape, e.g. paths comprised of li...
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07/05/2018
Multi-robot Path Planning in Well-formed Infrastructures: Prioritized Planning vs. Prioritized Wait Adjustment (Preliminary Results)
We study the problem of planning collision-free paths for a group of hom...
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07/02/2018
Path Finding for the Coalition of Co-operative Agents Acting in the Environment with Destructible Obstacles
The problem of planning a set of paths for the coalition of robots (agen...
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06/25/2018
Sparse 3D Point-cloud Map Upsampling and Noise Removal as a vSLAM Post-processing Step: Experimental Evaluation
The monocular vision-based simultaneous localization and mapping (vSLAM)...
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05/03/2018
Two Techniques That Enhance the Performance of Multi-robot Prioritized Path Planning
We introduce and empirically evaluate two techniques aimed at enhancing ...
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07/20/2017
Applying MAPP Algorithm for Cooperative Path Finding in Urban Environments
The paper considers the problem of planning a set of non-conflict trajec...
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07/15/2017
Original Loop-closure Detection Algorithm for Monocular vSLAM
Vision-based simultaneous localization and mapping (vSLAM) is a well-est...
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07/27/2016
Psychologically inspired planning method for smart relocation task
Behavior planning is known to be one of the basic cognitive functions, w...
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07/27/2016
Behavior and path planning for the coalition of cognitive robots in smart relocation tasks
In this paper we outline the approach of solving special type of navigat...
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11/03/2015
Finetuning Randomized Heuristic Search For 2D Path Planning: Finding The Best Input Parameters For R* Algorithm Through Series Of Experiments
Path planning is typically considered in Artificial Intelligence as a gr...
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06/05/2015
