Provide adaptive, congestion-free motion plans in human-centred spaces
Traditionally task scheduling and planning has been decoupled from motion planning. Yet, when robots navigate in critical and dynamic environments, plans may have to be adapted online to take into account congestion and interaction with other robots and human co-workers.
We will devise methods for multi-robot motion planning that schedule plans for the robots and adapt them online taking into account the priority of tasks, their associated uncertainty and the preferences and needs of human co-workers.
The goal is to have an integrated approach for motion planning in uncertain and dynamic environments, which accounts for complex manipulation, navigation and coordination tasks, and that provides performance guarantees (in expectation).