Abstract Teams of robots often have to assign target locations among themselves and then plan collision-free paths to their target locations. Examples include autonomous aircraft towing vehicles and automated warehouse systems. For example, in the near future, autonomous aircraft towing vehicles might tow aircraft all the way from the runways to their gates (and vice [...]

Abstract Robots today are typically confined to operate in relatively simple, controlled environments. One reason for these limitation is that current methods for robotic perception and control tend to break down when faced with occlusions, viewpoint changes, poor lighting, unmodeled dynamics, and other challenging but common situations that occur when robots are placed in the [...]