Related papers: An Efficient Scheduling Algorithm for Multi-Robot …
In this paper we consider the problem of scheduling on parallel machines with a presence of incompatibilities between jobs. The incompatibility relation can be modeled as a complete multipartite graph in which each edge denotes a pair of…
The Multiple Traveling Salesman Problem (MTSP) extends the traveling salesman problem by assigning multiple salesmen to visit a set of targets from a common depot, with each target visited exactly once while minimizing total tour length. A…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
Given a set of customers, the Flying Sidekick Traveling Salesman Problem (FSTSP) consists of using one truck and one drone to perform deliveries to them. The drone is limited to delivering to one customer at a time, after which it returns…
The Travelling Salesman and its variations are some of the most well known NP hard optimisation problems. This paper looks to use both centralised and decentralised implementations of Evolutionary Algorithms (EA) to solve a dynamic variant…
The moving target traveling salesman problem with obstacles (MT-TSP-O) is a generalization of the traveling salesman problem (TSP) where, as its name suggests, the targets are moving. A solution to the MT-TSP-O is a trajectory that visits…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
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 show that the traveling salesman problem (TSP) and its many variants may be modeled as functional optimization problems over a graph. In this formulation, all vertices and arcs of the graph are functionals; i.e., a mapping from a space…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects…
Reallocation scheduling is one of the most fundamental problems in various areas such as supply chain management, logistics, and transportation science. In this paper, we introduce the reallocation problem that models the scheduling in…
The generalized traveling salesman problem (GTSP) is an extension of the well-known traveling salesman problem. In GTSP, we are given a partition of cities into groups and we are required to find a minimum length tour that includes exactly…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the…
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the…
We propose three novel mathematical optimization formulations that solve the same two-type heterogeneous multiprocessor scheduling problem for a real-time taskset with hard constraints. Our formulations are based on a global scheduling…
We propose an approach to find low-makespan solutions to multi-robot multi-task planning problems in environments where robots block each other from completing tasks simultaneously. We introduce a formulation of the problem that allows for…
This article presents an overview of a research study of a crucial optimization problem in the Computer Science/Operations research field: The Job-shop Scheduling Problem (JSP). The JSP is a challenging task in which a set of operations…
The moving target traveling salesman problem with obstacles (MT-TSP-O) seeks an obstacle-free trajectory for an agent that intercepts a given set of moving targets, each within specified time windows, and returns to the agent's starting…