5 papers
GAMBIT: Learning to Plan Continuous Multi-Robot Trajectories
Rishabh Jain, Akmaral Moldagalieva, Lorenzo Magnino +5
GAMBIT is an opening chess move in which a player sacrifices a piece, typically a pawn, to gain a positional advantage later in the game. Analogously, in multi-robot coordination,…
db-LaCAM: Fast and Scalable Multi-Robot Kinodynamic Motion Planning with Discontinuity-Bounded Search and Lightweight MAPF
Akmaral Moldagalieva, Keisuke Okumura, Amanda Prorok +1
State-of-the-art multi-robot kinodynamic motion planners struggle to handle more than a few robots due to high computational burden, which limits their scalability and results in s…
Accelerating db-A* for Kinodynamic Motion Planning Using Diffusion
Julius Franke, Akmaral Moldagalieva, Pia Hanfeld +1
We present a novel approach for generating motion primitives for kinodynamic motion planning using diffusion models. The motions generated by our approach are adapted to each probl…
db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning
Akmaral Moldagalieva, Joaquim Ortiz-Haro, Wolfgang Hönig
This paper presents a multi-robot kinodynamic motion planner that enables a team of robots with different dynamics, actuation limits, and shapes to reach their goals in challenging…
Virtual Omnidirectional Perception for Downwash Prediction within a Team of Nano Multirotors Flying in Close Proximity
Akmaral Moldagalieva, Wolfgang Hönig
Teams of flying robots can be used for inspection, delivery, and construction tasks, in which they might be required to fly very close to each other. In such close-proximity cases,…