Related papers: On Ordering Multi-Robot Task Executions within a C…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Intelligent Cyber-physical systems can be modelled as multi-agent systems with planning capability to impart adaptivity for changing contexts. In such multi-agent systems, the protocol for plan execution must result in the proper completion…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
We consider the partitioned scheduling problem of multimode real-time systems upon identical multiprocessor platforms. During the execution of a multimode system, the system can change from one mode to another such that the current task set…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Cloud Robotics is helping to create a new generation of robots that leverage the nearly unlimited resources of large data centers (i.e., the cloud), overcoming the limitations imposed by on-board resources. Different processing power,…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the…
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,…
In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…
It is an amazing fact that remarkably complex behaviors could emerge from a large collection of very rudimentary dynamical agents through very simple local interactions. However, it still remains elusive on how to design these local…
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…
One simplifying assumption made in distributed robot systems is that the robots are single-tasking: each robot operates on a single task at any time. While such a sanguine assumption is innocent to make in situations with sufficient…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
This paper presents a consensus-based payload algorithm (CBPA) to deal with the condition of robots' capability decrease for multi-robot task allocation. During the execution of complex tasks, robots' capabilities could decrease with the…
This paper explores the use of semantic knowledge inherent in the cyber-physical system (CPS) under study in order to minimize the use of explicit communication, which refers to the use of physical radio resources to transmit potentially…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
Development of Cyber Physical Systems (CPSs) requires close interaction between developers with expertise in many domains to achieve ever-increasing demands for improved performance, reduced cost, and more system autonomy. Each engineering…