Related papers: Collaborative Delivery with Energy-Constrained Mob…
Modular vehicles present a novel area of academic and industrial interest in the field of multi-agent systems. Modularity allows vehicles to connect and disconnect with each other mid-transit which provides a balance between efficiency and…
We consider evacuation of a group of $n \geq 2$ autonomous mobile agents (or robots) from an unknown exit on an infinite line. The agents are initially placed at the origin of the line and can move with any speed up to the maximum speed $1$…
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…
In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…
Mobile networks are composed of many base stations and for each of them many parameters must be optimized to provide good services. Automatically and dynamically optimizing all these entities is challenging as they are sensitive to…
Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions…
In this paper, we present an approach for solving the problem of moving $N$ homogeneous agents into $M \geq N$ goal locations along energy-minimizing trajectories. We propose a decentralized framework that only requires knowledge of the…
Coordinating time-sensitive deliveries in environments like hospitals poses a complex challenge, particularly when managing multiple online pickup and delivery requests within strict time windows using a team of heterogeneous robots.…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
Mobile crowdsourcing refers to systems where the completion of tasks necessarily requires physical movement of crowdworkers in an on-demand workforce. Evidence suggests that in such systems, tasks often get assigned to crowdworkers who…
Resource balancing within complex transportation networks is one of the most important problems in real logistics domain. Traditional solutions on these problems leverage combinatorial optimization with demand and supply forecasting.…
Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the…
Two mobile agents, starting from different nodes of a network modeled as a graph, and woken up at possibly different times, have to meet at the same node. This problem is known as rendezvous. We consider deterministic distributed rendezvous…
We consider a fully cooperative multi-agent system where agents cooperate to maximize a system's utility in a partial-observable environment. We propose that multi-agent systems must have the ability to (1) communicate and understand the…
This paper presents a scalable solution with adjustable computation time for the joint problem of scheduling and assigning machines and transporters for missions that must be completed in a fixed order of operations across multiple stages.…
Distributed learning and adaptation have received significant interest and found wide-ranging applications in machine learning and signal processing. While various approaches, such as shared-memory optimization, multi-task learning, and…
Motivated by an emerging framework of Autonomous Modular Vehicles, we consider the abstract problem of optimally routing two modules, i.e., vehicles that can attach to or detach from each other in motion on a graph. The modules' objective…
We present an efficient routing approach for delivering packets in complex networks. On delivering a message from a node to a destination, a node forwards the message to a neighbor by estimating the waiting time along the shortest path from…
A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each…
We investigate the problem of energy-constrained planning for a cooperative system of an Unmanned Ground Vehicles (UGV) and an Unmanned Aerial Vehicle (UAV). In scenarios where the UGV serves as a mobile base to ferry the UAV and as a…