62 citations · 274 across the 22 of their papers we have counts for
6 papers · 1 filter
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…