Related papers: Distributed Simultaneous Action and Target Assignm…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
One of the major challenges in the coordination of large, open, collaborative, and commercial vehicle fleets is dynamic task allocation. Self-concerned individually rational vehicle drivers have both local and global objectives, which…
Task allocation has been a well studied problem. In most prior problem formulations, it is assumed that each task is associated with a unique set of resource requirements. In the scope of multi-robot task allocation problem, these…
Conventional online multi-task learning algorithms suffer from two critical limitations: 1) Heavy communication caused by delivering high velocity of sequential data to a central machine; 2) Expensive runtime complexity for building task…
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…
In this paper, we present an algorithm which lies in the domain of task allocation for a set of static autonomous radars with rotating antennas. It allows a set of radars to allocate in a fully decentralized way a set of active tracking…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
Tracking multiple targets in dynamic environments using distributed sensor networks is a fundamental problem in statistical signal processing. In such scenarios, the network of mobile sensors must coordinate their actions to accurately…
We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
We consider a multi-robot system with a team of collaborative robots and multiple tasks that emerges over time. We propose a fully decentralized task and path planning (DTPP) framework consisting of a task allocation module and a localized…
Solving a collision-aware multi-agent mission planning (task allocation and path finding) problem is challenging due to the requirement of real-time computational performance, scalability, and capability of handling static/dynamic obstacles…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
In this article we propose a game-theoretic approach to the multi-robot task allocation problem using the framework of global games. Each task is associated with a global signal, a real-valued number that captures the task execution…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…
This paper studies distributed resource allocation problem in multi-agent systems, where all the agents cooperatively minimize the sum of their cost functions with global resource constraints over stochastic communication networks. This…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a specified objective and satisfy whatever constraints exist in…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…