Related papers: On multi-robot search for a stationary object
The problem of optimizing a sequence of tasks for a robot, also known as multi-point manufacturing, is a well-studied problem. Many of these solutions use a variant of the Traveling Salesman Problem (TSP) and seek to find the minimum…
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable.…
We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…
This paper presents an approach to learn the local-search heuristics that iteratively improves the solution of Vehicle Routing Problem (VRP). A local-search heuristics is composed of a destroy operator that destructs a candidate solution,…
Multirobot systems for covering environments are increasingly used in applications like cleaning, industrial inspection, patrolling, and precision agriculture. The problem of covering a given environment using multiple robots can be…
Constant-factor, polynomial-time approximation algorithms are presented for two variations of the traveling salesman problem with time windows. In the first variation, the traveling repairman problem, the goal is to find a tour that visits…
We study the Symmetric Rendezvous Search Problem for a multi-robot system. There are $n>2$ robots arbitrarily located on a line. Their goal is to meet somewhere on the line as quickly as possible. The robots do not know the initial location…
In this paper, a heuristic for a heterogeneous min-max multi-vehicle multi-depot traveling salesman problem is proposed, wherein heterogeneous vehicles start from given depot locations and need to cover a given set of targets. In the…
The Multi-Objective Vehicle Routing Problem (MOVRP) is a complex optimization problem in the transportation and logistics industry. This paper proposes a novel approach to the MOVRP that aims to create routes that consider drivers' and…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
We consider the multi-vehicle one-to-one pickup and delivery problem with split loads, a NP-hard problem linked with a variety of applications for bulk product transportation, bike-sharing systems and inventory re-balancing. This problem is…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality and theoretical guarantees when…
In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…
Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…
The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fold. The first is the difficulty of…
We present an effective heuristic for the Steiner Problem in Graphs. Its main elements are a multistart algorithm coupled with aggressive combination of elite solutions, both leveraging recently-proposed fast local searches. We also propose…
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…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
As an extension of the traveling repairman problem with profits, the multiple traveling repairman problem with profits consists of multiple repairmen who visit a subset of all customers to maximize the revenues collected through the visited…