Related papers: Redundant Robot Assignment on Graphs with Uncertai…
We study dynamic multi-robot task allocation under uncertain task completion, time-window constraints, and incomplete information. Tasks arrive online over a finite horizon and must be completed within specified deadlines, while agents…
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…
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and…
In this paper, we propose a distributed version of the Hungarian Method to solve the well known assignment problem. In the context of multi-robot applications, all robots cooperatively compute a common assignment that optimizes a given…
We consider the class of single machine scheduling problems with the objective to minimize the weighted number of late jobs, under the assumption that completion due-dates are not known precisely at the time when decision-maker must provide…
This paper presents a non-iterative approach for finding the assignment of heterogeneous robots to efficiently execute online Pickup and Just-In-Time Delivery (PJITD) tasks with optimal resource utilization. The PJITD assignments problem is…
This paper explores the possibility of near-optimally solving multi-agent, multi-task NP-hard planning problems with time-dependent rewards using a learning-based algorithm. In particular, we consider a class of robot/machine scheduling…
Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks…
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…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
The aim of the dispersion problem is to place a set of $k(\leq n)$ mobile robots in the nodes of an unknown graph consisting of $n$ nodes such that in the final configuration each node contains at most one robot, starting from any arbitrary…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
This paper considers the problem of asynchronous distributed multi-agent optimization on server-based system architecture. In this problem, each agent has a local cost, and the goal for the agents is to collectively find a minimum of their…
This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…
Many real-life planning problems require making a priori decisions before all parameters of the problem have been revealed. An important special case of such problem arises in scheduling problems, where a set of tasks needs to be assigned…
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…
We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
Deterministic routing has emerged as a promising technology for future non-terrestrial networks (NTNs), offering the potential to enhance service performance and optimize resource utilization. However, the dynamic nature of network topology…