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DT*: Temporal Logic Path Planning in a Dynamic Environment
Priya Purohit, Indranil Saha
Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that th…
MT* : Multi-Robot Path Planning for Temporal Logic Specifications
Dhaval Gujarathi, Indranil Saha
We address the path planning problem for a team of robots satisfying a complex high-level mission specification given in the form of an Linear Temporal Logic (LTL) formula. The sta…
Mobile Recharger Path Planning and Recharge Scheduling in a Multi-Robot Environment
Tanmoy Kundu, Indranil Saha
In many multi-robot applications, mobile worker robots are often engaged in performing some tasks repetitively by following pre-computed trajectories. As these robots are battery-p…
SPARCAS: A Decentralized, Truthful Multi-Agent Collision-free Path Finding Mechanism
Sankar Das, Swaprava Nath, Indranil Saha
We propose a decentralized collision-avoidance mechanism for a group of independently controlled robots moving on a shared workspace. Existing algorithms achieve multi-robot collis…
T* : A Heuristic Search Based Algorithm for Motion Planning with Temporal Goals
Danish Khalidi, Dhaval Gujarathi, Indranil Saha
Motion planning is the core problem to solve for developing any application involving an autonomous mobile robot. The fundamental motion planning problem involves generating a traj…