200 citations · 302 across the 15 of their papers we have counts for
22 papers · 1 filter
Biased-MPPI: Informing Sampling-Based Model Predictive Control by Fusing Ancillary Controllers
Elia Trevisan, Javier Alonso-Mora
Motion planning for autonomous robots in dynamic environments poses numerous challenges due to uncertainties in the robot's dynamics and interaction with other agents. Sampling-bas…
Statistically Distinct Plans for Multi-Objective Task Assignment
Nils Wilde, Javier Alonso-Mora
We study the problem of finding statistically distinct plans for stochastic planning and task assignment problems such as online multi-robot pickup and delivery (MRPD) when facing…
Designing Heterogeneous Robot Fleets for Task Allocation and Sequencing
Nils Wilde, Javier Alonso-Mora
We study the problem of selecting a fleet of robots to service spatially distributed tasks with diverse requirements within time-windows. The problem of allocating tasks to a fleet…
Scalarizing Multi-Objective Robot Planning Problems using Weighted Maximization
Nils Wilde, Stephen L. Smith, Javier Alonso-Mora
When designing a motion planner for autonomous robots there are usually multiple objectives to be considered. However, a cost function that yields the desired trade-off between obj…
Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning
Yuezhe Zhang, Corrado Pezzato, Elia Trevisan +3
Task and Motion Planning (TAMP) has made strides in complex manipulation tasks, yet the execution robustness of the planned solutions remains overlooked. In this work, we propose a…
Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics
Saray Bakker, Luzia Knoedler, Max Spahn +2
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics a…