200 citations · 353 across the 27 of their papers we have counts for
8 papers · 1 filter
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…
Optimizing Task Waiting Times in Dynamic Vehicle Routing
Alexander Botros, Barry Gilhuly, Nils Wilde +3
We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dyn…
Autotuning Symbolic Optimization Fabrics for Trajectory Generation
Max Spahn, Javier Alonso-Mora
In this paper, we present an automated parameter optimization method for trajectory generation. We formulate parameter optimization as a constrained optimization problem that can b…
Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals
Lucas Streichenberg, Elia Trevisan, Jen Jen Chung +2
Autonomous vehicles that operate in urban environments shall comply with existing rules and reason about the interactions with other decision-making agents. In this paper, we intro…