8 citations · 20 across the 14 of their papers we have counts for
6 papers · 1 filter
Coordinated Multi-Agent Pathfinding for Drones and Trucks over Road Networks
Shushman Choudhury, Kiril Solovey, Mykel Kochenderfer +1
We address the problem of routing a team of drones and trucks over large-scale urban road networks. To conserve their limited flight energy, drones can use trucks as temporary mode…
Dynamic Multi-Robot Task Allocation under Uncertainty and Temporal Constraints
Shushman Choudhury, Jayesh K. Gupta, Mykel J. Kochenderfer +2
We consider the problem of dynamically allocating tasks to multiple agents under time window constraints and task completion uncertainty. Our objective is to minimize the number of…
Efficient Large-Scale Multi-Drone Delivery Using Transit Networks
Shushman Choudhury, Kiril Solovey, Mykel J. Kochenderfer +1
We consider the problem of controlling a large fleet of drones to deliver packages simultaneously across broad urban areas. To conserve energy, drones hop between public transit ve…
Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury +2
We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are co…
Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments
Shushman Choudhury, Yifan Hou, Gilwoo Lee +1
We present an algorithm for obtaining an optimal control policy for hybrid dynamical systems in cluttered environments. To the best of our knowledge, this is the first attempt to h…
Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury +1
We consider the problem of computing shortest paths in a dense motion-planning roadmap . We assume that~, the number of vertices of , is very large. Th…