Related papers: Distributed Path Planning for Executing Cooperativ…
We study dynamic multi-robot task allocation under uncertain task completion, time-window constraints, and incomplete information. Tasks arrive online over a finite horizon and must be completed within specified deadlines, while agents…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Robots performing tasks in warehouses provide the first example of wide-spread adoption of autonomous vehicles in transportation and logistics. The efficiency of these operations, which can vary widely in practice, are a key factor in the…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams. This class of problems involves tasks that can be executed in different ways and are associated with…
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
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…
Our goal in this paper is to plan the motion of a robot in a partitioned environment with dynamically changing, locally sensed rewards. We assume that arbitrary assumptions on the reward dynamics can be given. The robot aims to accomplish a…
Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…
In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…
This paper presents a scalable solution with adjustable computation time for the joint problem of scheduling and assigning machines and transporters for missions that must be completed in a fixed order of operations across multiple stages.…