Related papers: Context-Aware System Synthesis, Task Assignment, a…
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…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
We study the strategic decision-making problem of assigning time windows to customers in the context of vehicle routing applications that are affected by operational uncertainty. This problem, known as the Time Window Assignment Vehicle…
We study the problem of selecting a fleet of robots to service spatially distributed tasks with diverse requirements within time-windows. The problem of allocating tasks to a fleet of potentially heterogeneous robots and finding an optimal…
Efficient utilization of cooperating robots in the assembly of aircraft structures relies on balancing the workload of the robots and ensuring collision-free scheduling. We cast this problem as that of allocating a large number of…
Robotic task planning in real-world environments requires not only object recognition but also a nuanced understanding of spatial relationships between objects. We present a spatial-relationship-aware dataset of nearly 1,000 robot-acquired…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
The capability of a mobile robot to efficiently and safely perform complex missions is limited by its knowledge of the environment, namely the situation. Advanced reasoning, decision-making, and execution skills enable an intelligent agent…
The ability of robots to interpret human instructions and execute manipulation tasks necessitates the availability of task-relevant tabletop scenes for training. However, traditional methods for creating these scenes rely on time-consuming…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
The growing use of service robots in dynamic environments requires flexible management of on-board compute resources to optimize the performance of diverse tasks such as navigation, localization, and perception. Current robot deployments…
This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or objects, and the robot must reach desired locations while…
The aim of this work is to address issues where formal specifications cannot be realized on a given dynamical system subjected to a changing environment. Such failures occur whenever the dynamics of the system restrict the robot in such a…
Programs that respond to asynchronous events are challenging to write; they are difficult to reason about and tricky to test and debug. Because these programs can have a huge space of possible input timings and interleaving, the programmer…
For widespread deployment in domains characterized by partial observability, non-deterministic actions and unforeseen changes, robots need to adapt sensing, processing and interaction with humans to the tasks at hand. While robots typically…
Planning for autonomous systems typically requires reasoning with models at different levels of abstraction, and the harmonization of two competing sets of objectives: high-level mission goals that refer to an interaction of the system with…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…