33 citations · 215 across the 36 of their papers we have counts for
29 papers · 1 filter
Efficient Algorithms for Boundary Defense with Heterogeneous Defenders
Si Wei Feng, Jingjin Yu
This paper studies the problem of defending (1D and 2D) boundaries against a large number of continuous attacks with a heterogeneous group of defenders. The defender team has perfe…
Polynomial Time Near-Time-Optimal Multi-Robot Path Planning in Three Dimensions with Applications to Large-Scale UAV Coordination
Teng Guo, Siwei Feng, Jingjin Yu
For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the…
Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search
Rui Wang, Kai Gao, Daniel Nakhimovich +2
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as…
DIPN: Deep Interaction Prediction Network with Application to Clutter Removal
Baichuan Huang, Shuai D. Han, Abdeslam Boularias +1
We propose a Deep Interaction Prediction Network (DIPN) for learning to predict complex interactions that ensue as a robot end-effector pushes multiple objects, whose physical prop…
Computing High-Quality Clutter Removal Solutions for Multiple Robots
Wei N. Tang, Shuai D. Han, Jingjin Yu
We investigate the task and motion planning problem of clearing clutter from a workspace with limited ingress/egress access for multiple robots. We call the problem multi-robot clu…
Optimally Guarding Perimeters and Regions with Mobile Range Sensors
Si Wei Feng, Jingjin Yu
We investigate the problem of using mobile robots equipped with 2D range sensors to optimally guard perimeters or regions, i.e., 1D or 2D sets. Given such a set of arbitrary shape…
Toward Fast and Optimal Robotic Pick-and-Place on a Moving Conveyor
Shuai D. Han, Si Wei Feng, Jingjin Yu
Robotic pick-and-place (PnP) operations on moving conveyors find a wide range of industrial applications. In practice, simple greedy heuristics (e.g., prioritization based on the t…
Taming Combinatorial Challenges in Optimal Clutter Removal Tasks
Wei N. Tang, Jingjin Yu
We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for mini…
Efficient Algorithms for Optimal Perimeter Guarding
Si Wei Feng, Shuai D. Han, Kai Gao +1
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter o…
DDM: Fast Near-Optimal Multi-Robot Path Planning using Diversified-Path and Optimal Sub-Problem Solution Database Heuristics
Shuai D. Han, Jingjin Yu
We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like setting…
Integer Programming as a General Solution Methodology for Path-Based Optimization in Robotics: Principles, Best Practices, and Applications
Shuai D. Han, Jingjin Yu
Integer programming (IP) has proven to be highly effective in solving many path-based optimization problems in robotics. However, the applications of IP are generally done in an ad…
Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups
Rahul Shome, Kiril Solovey, Jingjin Yu +2
Rearranging objects on a planar surface arises in a variety of robotic applications, such as product packaging. Using two arms can improve efficiency but introduces new computation…
Coordinating the Motion of Labeled Discs with Optimality Guarantees under Extreme Density
Rupesh Chinta, Shuai D. Han, Jingjin Yu
We push the limit in planning collision-free motions for routing uniform labeled discs in two dimensions. First, from a theoretical perspective, we show that the constant-factor ti…
Constant Factor Time Optimal Multi-Robot Routing on High-Dimensional Grids in Mostly Sub-Quadratic Time
Jingjin Yu
Let be an grid. Assuming that each is occupied by a robot and a robot may move to a neighboring vertex in a step via synchroni…
Complexity Results and Fast Methods for Optimal Tabletop Rearrangement with Overhand Grasps
Shuai D Han, Nicholas M Stiffler, Athanasios Krontiris +2
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, simil…
Efficient, High-Quality Stack Rearrangement
Shuai D. Han, Nicholas M. Stiffler, Kostas E. Bekris +1
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered…
High-Quality Tabletop Rearrangement with Overhand Grasps: Hardness Results and Fast Methods
Shuai D. Han, Nicholas M. Stiffler, Athansios Krontiris +2
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, simil…
Average Case Constant Factor Time and Distance Optimal Multi-Robot Path Planning in Well-Connected Environments
Jingjin Yu
Fast algorithms for optimal multi-robot path planning are sought after in real-world applications. Known methods, however, generally do not simultaneously guarantee good solution o…
A Portable, 3D-Printing Enabled Multi-Vehicle Platform for Robotics Research and Education
Jingjin Yu, Shuai D Han, Wei N Tang +1
microMVP is an affordable, portable, and open source micro-scale mobile robot platform designed for robotics research and education. As a complete and unique multi-vehicle platform…
Optimal Multi-Robot Path Planning on Graphs: Complete Algorithms and Effective Heuristics
Jingjin Yu, Steven M. LaValle
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot trav…
Optimal Multi-Robot Path Planning on Graphs: Structure and Computational Complexity
Jingjin Yu, Steven M. LaValle
We study the problem of optimal multi-robot path planning on graphs (MPP) over four distinct minimization objectives: the total arrival time, the makespan (last arrival time), the…
An Effective Algorithmic Framework for Near Optimal Multi-Robot Path Planning
Jingjin Yu, Daniela Rus
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the tas…
Intractability of Optimal Multi-Robot Path Planning on Planar Graphs
Jingjin Yu
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that th…
Optimal Tourist Problem and Anytime Planning of Trip Itineraries
Jingjin Yu, Javed Aslam, Sertac Karaman +1
We introduce and study the problem in which a mobile sensing robot (our tourist) is tasked to travel among and gather intelligence at a set of spatially distributed point-of-intere…