Related papers: Collision-aware Task Assignment for Multi-Robot Sy…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
This paper investigates a consensus-based auction algorithm in the context of decentralized traffic control. In particular, we study the automation of a road intersection, where a set of vehicles is required to cross without collisions. The…
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot…
Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability based approach to resource sharing. Our key contributions are an algorithm for converting any constrained assignment to a weighted-SAT based…
Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturbances and unpredicted phenomena in the environment where…
One of the major challenges in the coordination of large, open, collaborative, and commercial vehicle fleets is dynamic task allocation. Self-concerned individually rational vehicle drivers have both local and global objectives, which…
Multi-Robot Task Allocation (MRTA) is a problem that arises in many application domains including package delivery, warehouse robotics, and healthcare. In this work, we consider the problem of MRTA for a dynamic stream of tasks with task…
Coordination among connected and autonomous vehicles (CAVs) is advancing due to developments in control and communication technologies. However, much of the current work is based on oversimplified and unrealistic task-specific assumptions,…
We study the combinatorial assignment domain, which includes combinatorial auctions and course allocation. The main challenge in this domain is that the bundle space grows exponentially in the number of items. To address this, several…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…
Multi-Agent Task Assignment and Planning (MATP) has attracted growing attention but remains challenging in terms of scalability, spatial reasoning, and adaptability in obstacle-rich environments. To address these challenges, we propose OATH…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
This paper addresses the task allocation problem for multi-robot systems. The main issue with the task allocation problem is inherent complexity that makes finding an optimal solution within a reasonable time almost impossible. To hand the…
Efficient task allocation among multiple robots is crucial for optimizing productivity in modern warehouses, particularly in response to the increasing demands of online order fulfillment. This paper addresses the real-time multi-robot task…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
Multi-robot systems have emerged as a key technology for addressing the efficiency and cost challenges in labor-intensive industries. In the representative scenario of smart farming, planning efficient harvesting schedules for a fleet of…
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…