43 citations · 67 across the 15 of their papers we have counts for
15 papers
Optimizing Space Utilization for More Effective Multi-Robot Path Planning
Shuai D. Han, Jingjin Yu
We perform a systematic exploration of the principle of Space Utilization Optimization (SUO) as a heuristic for planning better individual paths in a decoupled multi-robot path pla…
Visual Foresight Trees for Object Retrieval from Clutter with Nonprehensile Rearrangement
Baichuan Huang, Shuai D. Han, Jingjin Yu +1
This paper considers the problem of retrieving an object from many tightly packed objects using a combination of robotic pushing and grasping actions. Object retrieval in dense clu…
Spatial and Temporal Splitting Heuristics for Multi-Robot Motion Planning
Teng Guo, Shuai D. Han, Jingjin Yu
In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a pr…
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…
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…
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…
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…
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…
SEAR: A Polynomial-Time Multi-Robot Path Planning Algorithm with Expected Constant-Factor Optimality Guarantee
Shuai D. Han, Edgar J. Rodriguez, Jingjin Yu
We study the labeled multi-robot path planning problem in continuous 2D and 3D domains in the absence of obstacles where robots must not collide with each other. For an arbitrary n…
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…
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…