Related papers: Reachability and Coverage Planning for Connected A…
Multi-agent planning (MAP) approaches are typically oriented at solving loosely-coupled problems, being ineffective to deal with more complex, strongly-related problems. In most cases, agents work under complete information, building…
We study the topological complexity of work maps with respect to some subspaces of the configuration space and a workspace considered as the target set of the motion of robots. The motivation is to optimize and reduce the number of motion…
In the Multiagent Path Finding problem (MAPF for short), we focus on efficiently finding non-colliding paths for a set of $k$ agents on a given graph $G$, where each agent seeks a path from its source vertex to a target. An important…
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
The Mutliagent Path Finding (MAPF) problem consists of identifying the trajectories that a set of agents should follow inside a given network in order to reach their desired destinations as soon as possible, but without colliding with each…
The multi-agent path finding (MAPF) problem is a combinatorial search problem that aims at finding paths for multiple agents (e.g., robots) in an environment (e.g., an autonomous warehouse) such that no two agents collide with each other,…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
The multi-robot coverage problem is an essential building block for systems that perform tasks like inspection or search and rescue. We discretize the coverage problem to induce a spatial graph of locations and represent robots as nodes in…
In multi-agent path finding (MAPF) the task is to navigate agents from their starting positions to given individual goals. The problem takes place in an undirected graph whose vertices represent positions and edges define the topology.…
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…
In this technical note, we study the controllability of diffusively coupled networks from a graph theoretic perspective. We consider leader-follower networks, where the external control inputs are injected to only some of the agents, namely…
This paper introduces a novel reachability problem for the scenario involving two agents, where one agent follows another agent using a feedback strategy. The geometry of the reachable set for an agent, termed \emph{dependent reachable…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
One of the most fundamental problems in computer science is the reachability problem: Given a directed graph and two vertices s and t, can s reach t via a path? We revisit existing techniques and combine them with new approaches to support…
In complex multi-agent systems involving heterogeneous teams, uncertainty arises from numerous sources like environmental disturbances, model inaccuracies, and changing tasks. This causes planned trajectories to become infeasible, requiring…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
This paper connects multi-agent path planning on graphs (roadmaps) to network flow problems, showing that the former can be reduced to the latter, therefore enabling the application of combinatorial network flow algorithms, as well as…
Moving an autonomous agent through an unknown environment is one of the crucial problems for robotics and network analysis. Therefore, it received a lot of attention in the last decades and was analyzed in many different settings. The graph…
Multi-layer graphs consist of several graphs (layers) over the same vertex set. They are motivated by real-world problems where entities (vertices) are associated via multiple types of relationships (edges in different layers). We chart the…