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10/16/2022
Learning-based Motion Planning in Dynamic Environments Using GNNs and Temporal Encoding
Learning-based methods have shown promising performance for accelerating...
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03/04/2022
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
Multi-robot assembly systems are becoming increasingly appealing in manu...
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01/13/2022
Multi-agent Motion Planning from Signal Temporal Logic Specifications
We tackle the challenging problem of multi-agent cooperative motion plan...
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03/31/2021
Generalized Conflict-directed Search for Optimal Ordering Problems
Solving planning and scheduling problems for multiple tasks with highly ...
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02/16/2021
Optimal Mixed Discrete-Continuous Planning for Linear Hybrid Systems
Planning in hybrid systems with both discrete and continuous control var...
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01/14/2021
Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates
We study the multi-agent safe control problem where agents should avoid ...
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12/16/2020
Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances
We present a scalable and effective multi-agent safe motion planner that...
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04/15/2019