Related papers: Decentralized Task Allocation in Multi-Robot Syste…
We consider the problem of completing a set of $n$ tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproductive if there are finitely many tasks to be done. Rather,…
In this paper, we introduce a decentralized optimization-based density controller designed to enforce set invariance constraints in multi-robot systems. By designing a decentralized control barrier function, we derived sufficient conditions…
Coordinating multiple autonomous agents in shared environments under decentralized conditions is a long-standing challenge in robotics and artificial intelligence. This work addresses the problem of decentralized goal assignment for…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
Decentralized swarm robotic solutions to searching for targets that emit a spatially varying signal promise task parallelism, time efficiency, and fault tolerance. It is, however, challenging for swarm algorithms to offer scalability and…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
We consider the general problem of geometric task allocation, wherein a large, decentralised swarm of simple mobile agents must detect the locations of tasks in the plane and position themselves nearby. The tasks are represented by an a…
In this paper we consider discrete robot path planning problems on metric graphs. We propose a clustering method, Gamma-Clustering for the planning graph that significantly reduces the number of feasible solutions, yet retains a solution…
Coordinating time-sensitive deliveries in environments like hospitals poses a complex challenge, particularly when managing multiple online pickup and delivery requests within strict time windows using a team of heterogeneous robots.…
Multi-task problem solving has been shown to improve the accuracy of the individual tasks, which is an important feature for robots, as they have a limited resource. However, when the number of labels for each task is not equal, namely…
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots to jointly select actions, e.g., which trajectory to follow,…
The interaction and collaboration between humans and multiple robots represent a novel field of research known as human multi-robot systems. Adequately designed systems within this field allow teams composed of both humans and robots to…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…
Motivated by the emergence of decentralized machine learning (ML) ecosystems, we study the delegation of data collection. Taking the field of contract theory as our starting point, we design optimal and near-optimal contracts that deal with…
The increasing popularity of cloud computing has resulted in a proliferation of data centers. Effective placement of data centers improves network performance and minimizes clients' perceived latency. The problem of determining the optimal…
We are motivated by quantile estimation of algae concentration in lakes and how decentralized multirobot teams can effectively tackle this problem. We find that multirobot teams improve performance in this task over single robots, and…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…