2 citations · 5 across the 14 of their papers we have counts for
13 papers · 1 filter
Monocular One-Shot Metric-Depth Alignment for RGB-Based Robot Grasping
Teng Guo, Baichuan Huang, Jingjin Yu
Accurate 6D object pose estimation is a prerequisite for successfully completing robotic prehensile and non-prehensile manipulation tasks. At present, 6D pose estimation for roboti…
Expected -Makespan-Optimal MAPF on Grids in Low-Poly Time
Teng Guo, Jingjin Yu
Multi-Agent Path Finding (MAPF) is NP-hard to solve optimally, even on graphs, suggesting no polynomial-time algorithms can compute exact optimal solutions for them. This raises a…
Targeted Parallelization of Conflict-Based Search for Multi-Robot Path Planning
Teng Guo, Jingjin Yu
Multi-Robot Path Planning (MRPP) on graphs, equivalently known as Multi-Agent Path Finding (MAPF), is a well-established NP-hard problem with critically important applications. As…
Decentralized Lifelong Path Planning for Multiple Ackerman Car-Like Robots
Teng Guo, Jingjin Yu
Path planning for multiple non-holonomic robots in continuous domains constitutes a difficult robotics challenge with many applications. Despite significant recent progress on the…
Well-Connected Set and Its Application to Multi-Robot Path Planning
Teng Guo, Jingjin Yu
Parking lots and autonomous warehouses for accommodating many vehicles/robots adopt designs in which the underlying graphs are \emph{well-connected} to simplify planning and reduce…
Bin Assignment and Decentralized Path Planning for Multi-Robot Parcel Sorting
Teng Guo, Jingjin Yu
At modern warehouses, mobile robots transport packages and drop them into collection bins/chutes based on shipping destinations grouped by, e.g., the ZIP code. System throughput, m…
Efficient Heuristics for Multi-Robot Path Planning in Crowded Environments
Teng Guo, Jingjin Yu
Optimal Multi-Robot Path Planning (MRPP) has garnered significant attention due to its many applications in domains including warehouse automation, transportation, and swarm roboti…
Optimal Allocation of Many Robot Guards for Sweep-Line Coverage
Si Wei Feng, Teng Guo, Jingjin Yu
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and…
Toward Efficient Physical and Algorithmic Design of Automated Garages
Teng Guo, Jingjin Yu
Parking in large metropolitan areas is often a time-consuming task with further implications toward traffic patterns that affect urban landscaping. Reducing the premium space neede…
Polynomial Time Near-Time-Optimal Multi-Robot Path Planning in Three Dimensions with Applications to Large-Scale UAV Coordination
Teng Guo, Siwei Feng, Jingjin Yu
For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the…
Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter
Baichuan Huang, Teng Guo, Abdeslam Boularias +1
In this study, working with the task of object retrieval in clutter, we have developed a robot learning framework in which Monte Carlo Tree Search (MCTS) is first applied to enable…
Sub-1.5 Time-Optimal Multi-Robot Path Planning on Grids in Polynomial Time
Teng Guo, Jingjin Yu
Graph-based multi-robot path planning (MRPP) is NP-hard to optimally solve. In this work, we propose the first low polynomial-time algorithm for MRPP achieving 1--1.5 asymptotic op…
Spatial and Temporal Splitting Heuristics for Multi-Robot Motion Planning
Teng Guo, Shuai D. Han, Jingjin Yu
In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a pr…