2 papers
cs.RO2026
Task Allocation and Motion Planning in Dynamic, Cluttered Environments via CBBA and Graphs of Convex Sets
Matthew D. Osburn, Cameron K. Peterson, John L. Salmon
Multi-agent task planning in cluttered, dynamic environments requires assigning tasks to agents while simultaneously determining safe, time-efficient trajectories through the envir…
cs.RO2025
Systematic Constraint Formulation and Collision-Free Trajectory Planning Using Space-Time Graphs of Convex Sets
Matthew D. Osburn, Cameron K. Peterson, John L. Salmon
In this paper, we create optimal, collision-free, time-dependent trajectories through cluttered dynamic environments. The many spatial and temporal constraints make finding an init…