Related papers: An Optimal Algorithm to Solve the Combined Task Al…
The majority of multi-agent path finding (MAPF) methods compute collision-free space-time paths which require agents to be at a specific location at a specific discretized timestep. However, executing these space-time paths directly on…
Multi-agent path finding in continuous space and time with geometric agents MAPF$^\mathcal{R}$ is addressed in this paper. The task is to navigate agents that move smoothly between predefined positions to their individual goals so that they…
The problem of assigning tasks to workers is of long-standing fundamental importance. Examples of this include the classical problem of assigning computing tasks to nodes in a distributed computing environment, assigning jobs to robots, and…
In the Multi-Agent Path Finding (MAPF) problem, the goal is to find non-colliding paths for agents in an environment, such that each agent reaches its goal from its initial location. In safety-critical applications, a human supervisor may…
This paper presents a scalable multi-robot motion planning algorithm called Conflict-Based Model Predictive Control (CB-MPC). Inspired by Conflict-Based Search (CBS), the planner leverages a similar high-level conflict tree to efficiently…
Express companies are deploying more robotic sorting systems, where mobile robots are used to sort incoming parcels by destination. In this study, we propose an integrated assignment and path-finding method for robots in such sorting…
We consider the facility location problem in the one-dimensional setting where each facility can serve a limited number of agents from the algorithmic and mechanism design perspectives. From the algorithmic perspective, we prove that the…
Complex scheduling problems require a large amount computation power and innovative solution methods. The objective of this paper is the conception and implementation of a multi-agent system that is applicable in various problem domains.…
With the emergence of services and online applications as taxi dispatching, crowdsourcing, package or food delivery, industrials and researchers are paying attention to the online multi-task assignment optimization field to quickly and…
Missions for autonomous systems often require agents to visit multiple targets in complex operating conditions. This work considers the problem of visiting a set of targets in minimum time by a team of non-communicating agents in a Markov…
We address item relocation problems in graphs in this paper. We assume items placed in vertices of an undirected graph with at most one item per vertex. Items can be moved across edges while various constraints depending on the type of…
We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move.…
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…
The task of the multi-agent pathfinding (MAPF) problem is to navigate a team of agents from their start point to the goal points. However, this setup is unsuitable in the assembly line scenario, which is periodic with a long working hour.…
Routing and scheduling problems are fundamental problems in combinatorial optimization, and also have many applications. Most variations of these problems are NP-Hard, so we need to use heuristics to solve these problems on large instances,…
We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with densely populated obstacles and narrow passages. In such…
In this paper, we consider a network of agents that has to self-assign a set of tasks while respecting resource constraints. One possible formulation is the Generalized Assignment Problem, where the goal is to find a maximum payoff while…
The problem of allocating tasks to workers is of long standing fundamental importance. Examples of this include the classical problem of assigning computing tasks to nodes in a distributed computing environment, as well as the more recent…
We study distributed planning for multi-robot systems to provide optimal service to cooperative tasks that are distributed over space and time. Each task requires service by sufficiently many robots at the specified location within the…