14 citations · 33 across the 11 of their papers we have counts for
11 papers
Unified Branch-and-Bound Search for the Steiner Traveling Salesman Problem on Graphs of Convex Sets
Jingtao Tang, Hang Ma
We formalize the Steiner Traveling Salesman Problem (Steiner-TSP) on Graphs of Convex Sets (GCS), which seeks a minimum-cost closed trajectory through required convex sets while al…
Search-Based Spatiotemporal and Multi-Robot Motion Planning on Graphs of Space-Time Convex Sets
Jingtao Tang, Zining Mao, Lufan Yang +1
Spatiotemporal motion planning, especially in multi-robot settings, requires robots to reason about collision-free regions that change over time, which is challenging in continuous…
GHOST: Solving the Traveling Salesman Problem on Graphs of Convex Sets
Jingtao Tang, Hang Ma
We study GCS-TSP, a new variant of the Traveling Salesman Problem (TSP) defined over a Graph of Convex Sets (GCS) -- a powerful representation for trajectory planning that decompos…
Space-Time Graphs of Convex Sets for Multi-Robot Motion Planning
Jingtao Tang, Zining Mao, Lufan Yang +1
We address the Multi-Robot Motion Planning (MRMP) problem of computing collision-free trajectories for multiple robots in shared continuous environments. While existing frameworks…
Large-Scale Multirobot Coverage Path Planning on Grids With Path Deconfliction
Jingtao Tang, Zining Mao, Hang Ma
We study Multi-Robot Coverage Path Planning (MCPP) on a 4-neighbor 2D grid G, which aims to compute paths for multiple robots to cover all cells of G. Traditional approaches are li…
Multi-Robot Connected Fermat Spiral Coverage
Jingtao Tang, Hang Ma
We introduce the Multi-Robot Connected Fermat Spiral (MCFS), a novel algorithmic framework for Multi-Robot Coverage Path Planning (MCPP) that adapts Connected Fermat Spiral (CFS) f…
Large-Scale Multi-Robot Coverage Path Planning via Local Search
Jingtao Tang, Hang Ma
We study graph-based Multi-Robot Coverage Path Planning (MCPP) that aims to compute coverage paths for multiple robots to cover all vertices of a given 2D grid terrain graph . E…
Mixed Integer Programming for Time-Optimal Multi-Robot Coverage Path Planning with Efficient Heuristics
Jingtao Tang, Hang Ma
We investigate time-optimal Multi-Robot Coverage Path Planning (MCPP) for both unweighted and weighted terrains, which aims to minimize the coverage time, defined as the maximum tr…
TMSTC*: A Turn-minimizing Algorithm For Multi-robot Coverage Path Planning
Junjie Lu, Bi Zeng, Jingtao Tang +1
Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, coverage path pl…
Learning to Coordinate for a Worker-Station Multi-robot System in Planar Coverage Tasks
Jingtao Tang, Yuan Gao, Tin Lun Lam
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this…
MSTC*:Multi-robot Coverage Path Planning under Physical Constraints
Jingtao Tang, Chun Sun, Xinyu Zhang
For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC* for multi-robot coverage path p…