62 citations · 370 across the 54 of their papers we have counts for
8 papers · 1 filter
Enhanced Multi-Objective A* with Partial Expansion
Valmiki Kothare, Zhongqiang Ren, Sivakumar Rathinam +1
The Multi-Objective Shortest Path Problem (MO-SPP), typically posed on a graph, determines a set of paths from a start vertex to a destination vertex while optimizing multiple obje…
Cooperative Coverage with a Leader and a Wingmate in Communication-Constrained Environments
Sai Krishna Kanth Hari, Sivakumar Rathinam, Swaroop Darbha +1
We consider a mission framework in which two unmanned vehicles (UVs), a leader and a wingmate, are required to provide cooperative coverage of an environment while being within a s…
Informed Steiner Trees: Sampling and Pruning for Multi-Goal Path Finding in High Dimensions
Nikhil Chandak, Kenny Chour, Sivakumar Rathinam +1
We interleave sampling based motion planning methods with pruning ideas from minimum spanning tree algorithms to develop a new approach for solving a Multi-Goal Path Finding (MGPF)…
Assisted Shortest Path Planning for a Convoy through a Repairable Network
Abhay Singh Bhadoriya, Christopher Montez, Sivakumar Rathinam +3
In this article, we consider a multi-agent path planning problem in a partially impeded environment. The impeded environment is represented by a graph with select road segments (ed…
Optimal Geodesic Curvature Constrained Dubins' Paths on a Sphere
Swaroop Darbha, Athindra Pavan, K. R. Rajagopal +3
In this article, we consider the motion planning of a rigid object on the unit sphere with a unit speed. The motion of the object is constrained by the maximum absolute value, $U_{…
LIDAR data based Segmentation and Localization using Open Street Maps for Rural Roads
Stephen Ninan, Sivakumar Rathinam
Accurate pose estimation is a fundamental ability that all mobile robots must posses in order to traverse robustly in a given environment. Much like a human, this ability is depend…
Enhanced Multi-Objective A* Using Balanced Binary Search Trees
Zhongqiang Ren, Richard Zhan, Sivakumar Rathinam +2
This work addresses a Multi-Objective Shortest Path Problem (MO-SPP) on a graph where the goal is to find a set of Pareto-optimal solutions from a start node to a destination in th…
A Lower Bounding Framework for Motion Planning amid Dynamic Obstacles in 2D
Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between i…