4 papers · 1 filter
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…
Scalable Multi-Robot Motion Planning Using Workspace Guidance-Informed Hypergraphs
Courtney McBeth, James Motes, Isaac Ngui +2
In this work, we propose a method for multiple mobile robot motion planning that efficiently plans for robot teams up to 128 robots (an order of magnitude larger than existing stat…
ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality
Isaac Ngui, Courtney McBeth, André Santos +6
We propose the Extended Reality Universal Planning Toolkit (ERUPT), an extended reality (XR) system for interactive motion planning. Our system allows users to create and dynamical…
A Framework for Guided Motion Planning
Amnon Attali, Stav Ashur, Isaac Burton Love +4
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem insta…