8 papers · 1 filter
MR-SPITE: Accelerating Multi-Robot Conflict Scans via Hierarchical Swept-Volume Approximations
Marta Markowicz, James Motes, Marco Morales +1
Conflict scanning over synchronized robot paths requires detailed collision checking, potentially across every robot pair at every timestep, and may be repeated many times as confl…
AO-ARC: Almost-Surely Asymptotically Optimal Multi-Robot Motion Planning with ARC
James D. Motes, Marco Morales, Nancy M. Amato
We present AO-ARC, an anytime multi-robot motion planning (MRMP) method that achieves initial solution times on par with state-of-the-art MRMP feasibility solvers while converging…
P-ARC: Exploiting Subproblem Independence for Parallel Multi-Robot Motion Planning
James D. Motes, Marco Morales, Nancy M. Amato
This paper presents Parallel ARC (P-ARC), a parallel formulation of the Adaptive Robot Coordination (ARC) approach to multi-robot motion planning (MRMP) which exploits subproblem i…
Scalable Multi-robot Motion Planning via Hierarchical Subproblem Expansion and Workspace Decomposition Refinement
Isaac Ngui, Courtney McBeth, James D. Motes +2
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of sear…
Multi-Robot Motions in Milliseconds: Vector-Accelerated Primitives for Sampling-Based Planning
James D. Motes, Marco Morales, Nancy M. Amato
In this paper, we extend the recent Vector-Accelerated Motion Planning (VAMP) framework to multi-robot motion planning. We develop two vector-accelerated primitives, multi-robot Mo…
Serialized Red-Green-Gray: Quicker Heuristic Validation of Edges in Dynamic Roadmap Graphs
Yulie Arad, Stav Ashur, Marta Markowicz +3
Motion planning in dynamic environments, such as robotic warehouses, requires fast adaptation to frequent changes in obstacle poses. Traditional roadmap-based methods struggle in s…
From Legible to Inscrutable Trajectories: (Il)legible Motion Planning Accounting for Multiple Observers
Ananya Yammanuru, Maria Lusardi, Nancy M. Amato +1
In cooperative environments, such as in factories or assistive scenarios, it is important for a robot to communicate its intentions to observers, who could be either other humans o…
Quick Heuristic Validation of Edges in Dynamic Roadmap Graphs
Yulie Arad, Stav Ashur, Nancy M. Amato
In this paper we tackle the problem of adjusting roadmap graphs for robot motion planning to non-static environments. We introduce the "Red-Green-Gray" paradigm, a modification of…