Related papers: Collaborative Delivery with Energy-Constrained Mob…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
Constant-factor, polynomial-time approximation algorithms are presented for two variations of the traveling salesman problem with time windows. In the first variation, the traveling repairman problem, the goal is to find a tour that visits…
Reasoning and planning for mobile robots is a challenging problem, as the world evolves over time and thus the robot's goals may change. One technique to tackle this problem is goal reasoning, where the agent not only reasons about its…
This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to the relative location of their neighbours. The agents are…
In several smart city applications, multiple resources must be allocated among competing agents that are coupled through such shared resources and are constrained --- either through limitations of communication infrastructure or privacy…
The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…
We study a fundamental NP-hard motion coordination problem for multi-robot/multi-agent systems: We are given a graph $G$ and set of agents, where each agent has a given directed path in $G$. Each agent is initially located on the first…
Motivated by real-world applications such as the allocation of public housing, we examine the problem of assigning a group of agents to vertices (e.g., spatial locations) of a network so that the diversity level is maximized. Specifically,…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
Collaborative vehicle routing occurs when carriers collaborate through sharing their transportation requests and performing transportation requests on behalf of each other. This achieves economies of scale, thus reducing cost, greenhouse…
Distributed optimization for resource allocation problems is investigated and a sub-optimal continuous-time algorithm is proposed. Our algorithm has lower order dynamics than others to reduce burdens of computation and communication, and is…
We consider a multi agent optimization problem where a set of agents collectively solves a global optimization problem with the objective function given by the sum of locally known convex functions. We focus on the case when information…
In this paper, we plan missions for a fleet of agents in undirected graphs, such as grids, with multiple goals. In contrast to regular multi-agent path-finding, the solver finds and updates the assignment of goals to the agents on its own.…
In novel forms of the Social Internet of Things, any mobile user within communication range may help routing messages for another user in the network. The resulting message delivery rate depends both on the users' mobility patterns and the…
Mission planning for a fleet of cooperative autonomous drones in applications that involve serving distributed target points, such as disaster response, environmental monitoring, and surveillance, is challenging, especially under partial…
We consider the problem of data exchange by a group of closely-located wireless nodes. In this problem each node holds a set of packets and needs to obtain all the packets held by other nodes. Each of the nodes can broadcast the packets in…
We study dynamic multi-robot task allocation under uncertain task completion, time-window constraints, and incomplete information. Tasks arrive online over a finite horizon and must be completed within specified deadlines, while agents…
Several mobile agents, modelled as deterministic automata, navigate in an infinite line in synchronous rounds. All agents start in the same round. In each round, an agent can move to one of the two neighboring nodes, or stay idle. Agents…
In this paper we study a resource allocation problem that encodes correlation between items in terms of \conflict and maximizes the minimum utility of the agents under a conflict free allocation. Admittedly, the problem is computationally…
We consider the following problem - a group of mobile agents perform some task on a terrain modeled as a graph. In a given moment of time an adversary gets an access to the graph and positions of the agents. Shortly before adversary's…