Related papers: On multi-robot search for a stationary object
Multi-depot vehicle routing problems (MDVRPs) are prevalent in a variety of practical applications. However, they are computationally challenging to solve due to their inherent complexity. This paper proposes an effective hybrid algorithm…
The Generalised Travelling Salesman Problem (GTSP) is a well-known problem that, among other applications, arises in warehouse order picking, where each stock is distributed between several locations -- a typical approach in large modern…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
Multi-vehicle routing has become increasingly important with the rapid development of autonomous vehicle technology. Dial-a-ride problem, a variant of vehicle routing problem (VRP), deals with the allocation of customer requests to…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. A simultaneous matching and routing problem (SMRP) is formulated to match the humans with robot guides…
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…
This paper presents a generic technique for improving hybrid algorithms through the discovery of and tuning of meta-heuristics. The idea is to represent a family of push/pull heuristics that are based upon inserting and removing tasks in a…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
This paper studies an extension of the rural postman problem with multiple depots and rechargeable and reusable vehicles capable of multiple trips with capacity constraints. This paper presents a new Mixed Integer Linear Programming (MILP)…
In this paper, we consider a large-scale instance of the classical Pickup-and-Delivery Vehicle Routing Problem (PDVRP) that must be solved by a network of mobile cooperating robots. Robots must self-coordinate and self-allocate a set of…
The paper presents a study of local search heuristics in general and variable neighborhood search in particular for the resolution of an assignment problem studied in the practical work of universities. Here, students have to be assigned to…
We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adaptability, while conventional sampling-based methods require…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
This paper presents and experiments approaches to solve a new bi-objective routing problem called the ring star problem. It consists of locating a simple cycle through a subset of nodes of a graph while optimizing two kinds of cost. The…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
Human mobility clustering is an important problem for understanding human mobility behaviors (e.g., work and school commutes). Existing methods typically contain two steps: choosing or learning a mobility representation and applying a…
We propose a new model for formalizing reward collection problems on graphs with dynamically generated rewards which may appear and disappear based on a stochastic model. The *robot routing problem* is modeled as a graph whose nodes are…
Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…
Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…