Related papers: Optimal Routing Schedules for Robots Operating in …
We propose a novel non-linear extension to the Orienteering Problem (OP), called the Correlated Orienteering Problem (COP). We use COP to model the planning of informative tours for the persistent monitoring of a spatiotemporal field with…
In this paper, we address the problem of scheduling a set of robots to complete tasks in a laboratory environment, modelled as a graph, while avoiding collisions. We analyze the dynamic programming algorithm (PA) introduced in…
The Team Orienteering Problem (TOP) is an NP-hard routing problem in which a fleet of identical vehicles aims at collecting rewards (prizes) available at given locations, while satisfying restrictions on the travel times. In TOP, each…
Finding a feasible and prompt solution to the Vehicle Routing Problem (VRP) is a prerequisite for efficient freight transportation, seamless logistics, and sustainable mobility. Traditional optimization methods reach their limits when…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
The Team Orienteering Problem (TOP) generalizes many real-world multi-robot scheduling and routing tasks that occur in autonomous mobility, aerial logistics, and surveillance applications. While many flavors of the TOP exist for planning in…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…
Long-horizon combinatorial optimization problems (COPs), such as the Flexible Job-Shop Scheduling Problem (FJSP), often involve complex, interdependent decisions over extended time frames, posing significant challenges for existing solvers.…
In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions…
We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the robot matters, since it influences energy and time…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
In many unmanned aerial vehicle (UAV) applications for surveillance and data collection, it is not possible to reach all requested locations due to the given maximum flight time. Hence, the requested locations must be prioritized and the…
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…
The Stacker Crane Problem (SCP) is a variant of the Traveling Salesman Problem. In SCP, pairs of pickup and delivery points are designated on a graph, and a crane must visit these points to move objects from each pickup location to its…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
Many municipalities and large organizations have fleets of vehicles that need to be coordinated for tasks such as garbage collection or infrastructure inspection. Motivated by this need, this paper focuses on the common subproblem in which…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
Coordination graph is a promising approach to model agent collaboration in multi-agent reinforcement learning. It conducts a graph-based value factorization and induces explicit coordination among agents to complete complicated tasks.…