Related papers: Efficient, High-Quality Stack Rearrangement
We introduce a class of first-order methods for smooth constrained optimization that are based on an analogy to non-smooth dynamical systems. Two distinctive features of our approach are that (i) projections or optimizations over the entire…
In this study, we explore the application of game theory, in particular Stackelberg games, to address the issue of effective coordination strategy generation for heterogeneous robots with one-way communication. To that end, focusing on the…
Higher-dimensional orthogonal packing problems have a wide range of practical applications, including packing, cutting, and scheduling. Combining the use of our data structure for characterizing feasible packings with our new classes of…
In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…
In a carsharing system, a fleet of cars is distributed at stations in an urban area, customers can take and return cars at any time and station. For operating such a system in a satisfactory way, the stations have to keep a good ratio…
Given a collection of red and blue mobile agents located on two grid rows, we seek to move all the blue agents to the far left side and all the red agents to the far right side, thus \textit{physically sorting} them according to color. The…
We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Semi-online algorithms that are allowed to perform a bounded amount of repacking achieve guaranteed good worst-case behaviour in a more realistic setting. Most of the previous works focused on minimization problems that aim to minimize some…
At modern warehouses, mobile robots transport packages and drop them into collection bins/chutes based on shipping destinations grouped by, e.g., the ZIP code. System throughput, measured as the number of packages sorted per unit of time,…
Box folding represents a crucial challenge for automated packaging systems. This work bridges the gap between existing methods for folding sequence extraction and approaches focused on the adaptability of automated systems to specific box…
This study explores a pick-and-toss (PT) as an alternative to pick-and-place (PP), allowing a robot to extend its range and improve task efficiency. Although PT boosts efficiency in object arrangement, the placement environment critically…
The aim in packing problems is to decide if a given set of pieces can be placed inside a given container. A packing problem is defined by the types of pieces and containers to be handled, and the motions that are allowed to move the pieces.…
A robotic network is a system with multiple robots connected by a communication network. Certain tasks that cannot be accomplished with available robotic resources are candidates for the use of cloud robotics, which overcomes the…
We study the problem of motion planning for a collection of $n$ labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their start and final positions: that each start and each final is…
Distributing spatially located heterogeneous workloads is an important problem in parallel scientific computing. We investigate the problem of partitioning such workloads (represented as a matrix of non-negative integers) into rectangles,…
We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…
Location Routing is a fundamental planning problem in logistics, in which strategic location decisions on the placement of facilities (depots, distribution centers, warehouses etc.) are taken based on accurate estimates of operational…
Robotic-based compact storage and retrieval systems provide high-density storage in distribution center and warehouse applications. In the system, items are stored in bins, and the bins are organized inside a three-dimensional grid. Robots…
Optimal packing of objects in containers is a critical problem in various real-life and industrial applications. This paper investigates the two-dimensional packing of convex polygons without rotations, where only translations are allowed.…