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Chen, Zhe (author), Alonso-Mora, J. (author), Bai, X. (author), Harabor, Daniel Damir (author), Stuckey, Peter James (author)Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of automated warehouse logistics and automated mail sortation, MAPD requires first deciding which robot is...journal article 2021
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Ferreira de Brito, B.F. (author), Everett, Michael (author), How, Jonathan Patrick (author), Alonso-Mora, J. (author)Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local trajectory optimization methods, such as model predictive control (MPC), can deal with those changes but require...journal article 2021
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Zhu, H. (author), Martinez Claramunt, Francisco (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots to achieve predictive collision avoidance. These motion predictions can be obtained among robots by...journal article 2021
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de Groot, O.M. (author), Ferreira de Brito, B.F. (author), Ferranti, L. (author), Gavrila, D. (author), Alonso-Mora, J. (author)We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by incorporating chance constraints into the planning problem. This problem is not suitable for online optimization...journal article 2021
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Fielbaum, Andres (author), Kronmüller, M. (author), Alonso-Mora, J. (author)On-demand mobility systems in which passengers use the same vehicle simultaneously are a promising transport mode, yet difficult to control. One of the most relevant challenges relates to the spatial imbalances of the demand, which induce a mismatch between the position of the vehicles and the origins of the emerging requests. Most...journal article 2021
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Park, Shinkyu (author), Cáp, M. (author), Alonso-Mora, J. (author), Ratti, Carlo (author), Rus, Daniela (author)In this article, we propose a trajectory planning algorithm that enables autonomous surface vessels to perform socially compliant navigation in a city's canal. The key idea behind the proposed algorithm is to adopt an optimal control formulation in which the deviation of movements of the autonomous vessel from nominal movements of human...journal article 2021
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Fielbaum, Andres (author), Bai, X. (author), Alonso-Mora, J. (author)On-demand systems in which passengers with similar routes can share a vehicle are expected to become a relevant part of future mobility, thanks to their flexibility and their potential impact on reducing congestion. Nevertheless, due to the long detours required by a door-to-door scheme, they induce extra costs to the users in terms of delay....journal article 2021
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Pierotti, J. (author), Kronmueller, Maximilian (author), Alonso-Mora, J. (author), van Essen, J.T. (author), Böhmer, J.W. (author)Combinatorial optimization (CO) problems are at the heart of both practical and theoretical research. Due to their complexity, many problems cannot be solved via exact methods in reasonable time; hence, we resort to heuristic solution methods. In recent years, machine learning (ML) has brought immense benefits in many research areas,...book chapter 2021
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van den Berg, Berend (author), Ferreira de Brito, B.F. (author), Alirezaei, Mohsen (author), Alonso-Mora, J. (author)The road's geometry strongly influences the path planner's performance, critical for autonomous navigation in high-speed dynamic scenarios (e.g., highways). Hence, this paper introduces the Curvature-aware Rapidly-exploring Random Trees (CA-CL-RRT), whose planning performance is invariant to the road's geometry. We propose a transformation...conference paper 2021
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Zhu, H. (author), Chun, Jen Jen (author), Lawrance, Nicholas R.J. (author), Siegwart, Roland (author), Alonso-Mora, J. (author)This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide full coverage of the surface, which inherently assumes the surface information is uniformly distributed...conference paper 2021
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Ray, Aaron (author), Pierson, Alyssa (author), Zhu, H. (author), Alonso-Mora, J. (author), Rus, Daniela (author)We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to shots and locally optimizes online the viewpoint. Given desired shot parameters, the high-level planner uses a...conference paper 2021
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Spahn, M. (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)This paper presents a real-time method for whole-body trajectory optimization of mobile manipulators in simplified dynamic and unstructured environments. Current trajectory optimization methods typically use decoupling of the mobile base and the robotic arm, which reduces flexibility in motion, does not scale to unstructured environments, and...conference paper 2021
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Kronmüller, M. (author), Fielbaum, Andres (author), Alonso-Mora, J. (author)The advances in the area of autonomous delivery robots combined with customers' desire for fast delivery, bare potential for same-day delivery operations, specifically with small time windows between ordering and delivery. Most same-day deliveries are operated using a single depot and with vehicles' routes planned and fixed when leaving the...conference paper 2021
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Schuller, Pieter (author), Fielbaum, Andres (author), Alonso-Mora, J. (author)On-demand ridepooling systems usually need to decide which requests to serve, when the number of vehicles is not enough to transport them all with waiting times that are acceptable by the users. When doing so, they tend to provide uneven service rates, concentrating rejections in some zones within the operation area. In this paper, we propose...conference paper 2021
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van Lochem, Jelmer (author), Kronmüller, M. (author), Hof, Pim Van t. (author), Alonso-Mora, J. (author)In this paper we address the problem of same-day pick-up and delivery where a set of tasks are known a priori and a set of tasks are revealed during operation. The vehicle routes are precomputed based on the known and predicted requests and adjusted online as new requests are revealed. We propose a novel anticipatory insertion method which...conference paper 2020
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Andersen, Hans (author), Alonso-Mora, J. (author), Eng, You Hong (author), Rus, Daniela (author), Ang, Marcelo H. (author)In this paper we present a trajectory generation method for autonomous overtaking of unexpected obstacles in a dynamic urban environment. In these settings, blind spots can arise from perception limitations. For example when overtaking unexpected objects on the vehicle's ego lane on a two-way street. In this case, a human driver would first make...journal article 2020
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Serra Gomez, A. (author), Ferreira de Brito, B.F. (author), Zhu, H. (author), Chung, Jen Jen (author), Alonso-Mora, J. (author)Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts of all robots. Especially in complex dynamic environments, the coordination boost allowed by communication is critical to avoid collisions...conference paper 2020
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Potdar, N.D. (author), de Croon, G.C.H.E. (author), Alonso-Mora, J. (author)Micro Aerial Vehicles (MAVs) can be used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches for path planning of MAV swung payload system either compute conservative minimal-swing trajectories or pre-generate agile collision-free...journal article 2020
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Fielbaum, Andres (author), Alonso-Mora, J. (author)On-demand systems in which several users can ride simultaneously the same vehicle have great potential to improve mobility while reducing congestion. Nevertheless, they have a significant drawback: the actual realization of a trip depends on the other users with whom it is shared, as they might impose extra detours that increase the waiting...journal article 2020
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Kucharski, R.M. (author), Fielbaum, Andres (author), Alonso-Mora, J. (author), Cats, O. (author)Sharing rides in on-demand systems allow passengers to reduce their fares and service providers to increase revenue, though at the cost of adding uncertainty to the system. Notably, the uncertainty of ride-pooling systems stems not only from travel times but also from unique features of sharing, such as the dependency on other passengers'...journal article 2020