11 citations · 17 across the 3 of their papers we have counts for
4 papers
Effective Integration of Weighted Cost-to-go and Conflict Heuristic within Suboptimal CBS
Rishi Veerapaneni, Tushar Kusnur, Maxim Likhachev
Conflict-Based Search (CBS) is a popular multi-agent path finding (MAPF) solver that employs a low-level single agent planner and a high-level constraint tree to resolve conflicts.…
AMRA*: Anytime Multi-Resolution Multi-Heuristic A*
Dhruv Mauria Saxena, Tushar Kusnur, Maxim Likhachev
Heuristic search-based motion planning algorithms typically discretise the search space in order to solve the shortest path problem. Their performance is closely related to this di…
Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks
Tushar Kusnur, Dhruv Mauria Saxena, Maxim Likhachev
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tas…
A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction
Tushar Kusnur, Shohin Mukherjee, Dhruv Mauria Saxena +4
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persist…