Article

PushAround: Physics-Informed Hybrid Search for Multi-Robot Collaborative Path Clearing

PushAround proposes a physics-informed hybrid search method that combines geometric connectivity reasoning with short-horizon simulation to generate executable clearing plans for mobile robot teams. The method uses repeated W-clearance connectivity graph (WCCG) queries to identify frontier gaps that need widening and ranks them by estimated downstream cost, then generates direct or recursive pushing candidates, selecting obstacles, directions, contacts, and forces.

Part of the event: PushAround: A New Method for Multi-Robot Collaborative Obstacle Clearance

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