62 citations · 274 across the 22 of their papers we have counts for
25 papers
RPT*: Global Planning with Probabilistic Terminals for Target Search in Complex Environments
Yunpeng Lyu, Chao Cao, Ji Zhang +2
Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Pr…
Parallel, Asymptotically Optimal Algorithms for Moving Target Traveling Salesman Problems
Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy +3
The Moving Target Traveling Salesman Problem (MT-TSP) seeks a trajectory that intercepts several moving targets, within a particular time window for each target. When generic nonli…
A Complete and Bounded-Suboptimal Algorithm for a Moving Target Traveling Salesman Problem with Obstacles in 3D
Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy +3
The moving target traveling salesman problem with obstacles (MT-TSP-O) seeks an obstacle-free trajectory for an agent that intercepts a given set of moving targets, each within spe…
A Mixed-Integer Conic Program for the Multi-Agent Moving-Target Traveling Salesman Problem
Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam +1
The Moving-Target Traveling Salesman Problem (MT-TSP) seeks a shortest path for an agent that starts at a stationary depot, visits a set of moving targets exactly once, each within…
A Complete Algorithm for a Moving Target Traveling Salesman Problem with Obstacles
Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy +3
The moving target traveling salesman problem with obstacles (MT-TSP-O) is a generalization of the traveling salesman problem (TSP) where, as its name suggests, the targets are movi…
Propagative Distance Optimization for Constrained Inverse Kinematics
Yu Chen, Yilin Cai, Jinyun Xu +3
This paper investigates a constrained inverse kinematic (IK) problem that seeks a feasible configuration of an articulated robot under various constraints such as joint limits and…
A Mixed-Integer Conic Program for the Moving-Target Traveling Salesman Problem based on a Graph of Convex Sets
Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam +1
This paper introduces a new formulation that finds the optimum for the Moving-Target Traveling Salesman Problem (MT-TSP), which seeks to find a shortest path for an agent, that sta…
DMS*: Minimizing Makespan for Multi-Agent Combinatorial Path Finding
Zhongqiang Ren, Anushtup Nandy, Sivakumar Rathinam +1
Multi-Agent Combinatorial Path Finding (MCPF) seeks collision-free paths for multiple agents from their initial to goal locations, while visiting a set of intermediate target locat…
C*: A New Bounding Approach for the Moving-Target Traveling Salesman Problem
Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam +1
We introduce a new bounding approach called Continuity* C*, which provides optimality guarantees for the Moving-Target Traveling Salesman Problem (MT-TSP). Our approach relaxes the…
Multi-Agent Combinatorial Path Finding with Heterogeneous Task Duration
Yuanhang Zhang, Xuemian Wu, Hesheng Wang +1
Multi-Agent Combinatorial Path Finding (MCPF) seeks collision-free paths for multiple agents from their initial locations to destinations, visiting a set of intermediate target loc…
Heuristic Search for Path Finding with Refuelling
Shizhe Zhao, Anushtup Nandy, Howie Choset +2
This paper considers a generalization of the Path Finding (PF) problem with refuelling constraints referred to as the Gas Station Problem (GSP). Similar to PF, given a graph where…
Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree
Yimin Tang, Zhongqiang Ren, Jiaoyang Li +1
Combined Target-Assignment and Path-Finding problem (TAPF) requires simultaneously assigning targets to agents and planning collision-free paths for agents from their start locatio…
Enhanced Multi-Objective A* with Partial Expansion
Valmiki Kothare, Zhongqiang Ren, Sivakumar Rathinam +1
The Multi-Objective Shortest Path Problem (MO-SPP), typically posed on a graph, determines a set of paths from a start vertex to a destination vertex while optimizing multiple obje…
MUI-TARE: Multi-Agent Cooperative Exploration with Unknown Initial Position
Jingtian Yan, Xingqiao Lin, Zhongqiang Ren +6
Multi-agent exploration of a bounded 3D environment with unknown initial positions of agents is a challenging problem. It requires quickly exploring the environments as well as rob…
PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, Dasong Gao, Kuan Xu +34
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physic…
A Local Optimization Framework for Multi-Objective Ergodic Search
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin +2
Robots have the potential to perform search for a variety of applications under different scenarios. Our work is motivated by humanitarian assistant and disaster relief (HADR) wher…
Enhanced Multi-Objective A* Using Balanced Binary Search Trees
Zhongqiang Ren, Richard Zhan, Sivakumar Rathinam +2
This work addresses a Multi-Objective Shortest Path Problem (MO-SPP) on a graph where the goal is to find a set of Pareto-optimal solutions from a start node to a destination in th…
A Lower Bounding Framework for Motion Planning amid Dynamic Obstacles in 2D
Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between i…
Subdimensional Expansion Using Attention-Based Learning For Multi-Agent Path Finding
Lakshay Virmani, Zhongqiang Ren, Sivakumar Rathinam +1
Multi-Agent Path Finding (MAPF) finds conflict-free paths for multiple agents from their respective start to goal locations. MAPF is challenging as the joint configuration space gr…
Multi-objective Conflict-based Search Using Safe-interval Path Planning
Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev +1
This paper addresses a generalization of the well known multi-agent path finding (MAPF) problem that optimizes multiple conflicting objectives simultaneously such as travel time an…
Multi-Objective Path-Based D* Lite
Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev +1
Incremental graph search algorithms such as D* Lite reuse previous, and perhaps partial, searches to expedite subsequent path planning tasks. In this article, we are interested in…
MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding
Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
In multi-agent applications such as surveillance and logistics, fleets of mobile agents are often expected to coordinate and safely visit a large number of goal locations as effici…
Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions
Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
Multi-agent path finding (MAPF) determines an ensemble of collision-free paths for multiple agents between their respective start and goal locations. Among the available MAPF plann…
Subdimensional Expansion for Multi-objective Multi-agent Path Finding
Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
Conventional multi-agent path planners typically determine a path that optimizes a single objective, such as path length. Many applications, however, may require multiple objective…