4 papers
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…