7 papers
Uncertainty-Aware Multi-Robot Task Allocation With Strongly Coupled Inter-Robot Rewards
Ben Rossano, Jaein Lim, Jonathan P. How
Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such…
Lazy Incremental Search for Efficient Replanning with Bounded Suboptimality Guarantees
Jaein Lim, Mahdi Ghanei, R. Connor Lawson +2
We present a lazy incremental search algorithm, Lifelong-GLS (L-GLS), along with its bounded suboptimal version, Bounded L-GLS (B-LGLS) that combine the search efficiency of increm…
Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning
Daniel T. Larsson, Arash Asgharivaskasi, Jaein Lim +2
In this paper, we develop an approach that enables autonomous robots to build and compress semantic environment representations from point-cloud data. Our approach builds a three-d…
CBS-Budget (CBSB): A Complete and Bounded Suboptimal Search for Multi-Agent Path Finding
Jaein Lim, Panagiotis Tsiotras
Multi-Agent Path Finding (MAPF) is the problem of finding a collection of collision-free paths for a team of multiple agents while minimizing some global cost, such as the sum of t…
Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation
Jaein Lim, Siddhartha Srinivasa, Panagiotis Tsiotras
We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Sea…
A Generalized A* Algorithm for Finding Globally Optimal Paths in Weighted Colored Graphs
Jaein Lim, Panagiotis Tsiotras
Both geometric and semantic information of the search space is imperative for a good plan. We encode those properties in a weighted colored graph (geometric information in terms of…
MAMS-A*: Multi-Agent Multi-Scale A*
Jaein Lim, Panagiotis Tsiotras
We present a multi-scale forward search algorithm for distributed agents to solve single-query shortest path planning problems. Each agent first builds a representation of its own…