The problem of robotic lime picking is challeng- ing; lime plants have dense foliage which makes it difficult for a robotic arm to grasp a lime without coming in contact with leaves. Existing approaches either do not consider leaves, or treat them as …
We propose a hierarchical framework for solving the Multi-Agent Path Finding (MAPF) problem. We spatially divide a large map instance into smaller sub-regions and use a high-level solver to guide agents through the sub-regions. Within each region, we …
We propose a hierarchical framework for solving the Multi-Agent Path Finding (MAPF) problem. We spatially divide a large map instance into smaller sub-regions and use a high-level solver to guide agents through the sub-regions. Within each region, we …
Speed up RRT with artifical potential field while being able to escape local minima.
Spatially divide large maps into sub-regions and find high-level paths to provide guidance to low-level ECBS solvers in each sub-region.
Benchmark state-of-the-art motion planners and techniques for wheeled mobile robots to highlight their strengths and weaknesses.