Related papers: A Novel Warehouse Multi-Robot Automation System wi…
Task and Motion Planning (TAMP) algorithms can generate plans that combine logic and motion aspects for robots. However, these plans are sensitive to interference and control errors. To make TAMP more applicable in real-world, we propose…
Due to complex sets of interrelated activities in aircraft heavy maintenance (AHM), many airlines have to deal with substantial aircraft maintenance downtime. The scheduling problem in AHM is regarded as an NP-hard problem. Using exact…
We explore the use of Artificial Potential Fields (APFs) to solve Multi-Agent Path Finding (MAPF) and Lifelong MAPF (LMAPF) problems. In MAPF, a team of agents must move to their goal locations without collisions, whereas in LMAPF, new…
We present a novel framework for addressing the challenges of multi-Agent planning and formation control within intricate and dynamic environments. This framework transforms the Multi-Agent Path Finding (MAPF) problem into a Multi-Agent…
The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…
Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability based approach to resource sharing. Our key contributions are an algorithm for converting any constrained assignment to a weighted-SAT based…
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…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
In a multi-agent pathfinding (MAPF) problem, agents need to navigate from their start to their goal locations without colliding into each other. There are various MAPF algorithms, including Windowed Hierarchical Cooperative A*, Flow…
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…
During the execution of Multi-Agent Path Finding (MAPF) plans in real-life applications, the MAPF assumption that the fleet's movement is perfectly synchronized does not apply. Since one or more of the agents may become delayed due to…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
Due to its direct relevance to post-disaster operations, meter reading and civil refuse collection, the Uncertain Capacitated Arc Routing Problem (UCARP) is an important optimisation problem. Stochastic models are critical to study as they…
Large robot fleets are now common in warehouses and other logistics settings, where small control gains translate into large operational impacts. In this article, we address task scheduling for lifelong Multi-Agent Pickup-and-Delivery…
The design and organization of complex robotic systems traditionally requires laborious trial-and-error processes to ensure both hardware and software components are correctly connected with the resources necessary for computation. This…
The generalized quadratic assignment problem (GQAP) is one of the hardest problems to solve in the operations research area. The GQAP addressed in this work is defined as the task of minimizing the assignment and transportation costs of…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
Task Assignment and Path Finding (TAPF) concerns computing collision-free motions for multiple robots while jointly selecting goal locations. In this paper, safety is enforced by requiring unit-capacity traversal between successive…
The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…