Related papers: Reachability and Coverage Planning for Connected A…
We study the so-called dynamic coverage problem by agents located in some topological graph. The agents must visit all regions of interest but they also should stay connected to the base via multi-hop. We prove that the algorithmic…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…
Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the…
We address a problem of area protection in graph-based scenarios with multiple mobile agents where connectivity is maintained among agents to ensure they can communicate. The problem consists of two adversarial teams of agents that move in…
Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency…
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…
The efficient and fair distribution of indivisible resources among agents is a common problem in the field of \emph{Multi-Agent-Systems}. We consider a graph-based version of this problem called Reachable Assignments, introduced by Gourves,…
Neural networks (NNs) have been shown to learn complex control laws successfully, often with performance advantages or decreased computational cost compared to alternative methods. Neural network controllers (NNCs) are, however, highly…
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…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
On an assigned graph, the problem of Multi-Agent Pathfinding (MAPF) consists in finding paths for multiple agents, avoiding collisions. Finding the minimum-length solution is known to be NP-hard, and computation times grows exponentially…
We study an extensive class of movement minimization problems which arise from many practical scenarios but so far have little theoretical study. In general, these problems involve planning the coordinated motion of a collection of agents…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
In this paper we tackle the problem of routing multiple agents in a coordinated manner. This is a complex problem that has a wide range of applications in fleet management to achieve a common goal, such as mapping from a swarm of robots and…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
Current directions in network routing research have not kept pace with the latest developments in network architectures, such as peer-to-peer networks, sensor networks, ad-hoc wireless networks, and overlay networks. A common characteristic…
This paper proposes a novel planning framework to handle a multi-agent pathfinding problem under team-connected communication constraint, where all agents must have a connected communication channel to the rest of the team during their…