Related papers: Idle Time Optimization for Target Assignment and P…
This article considers the problem of conflict-free distribution of point-sized agents on a circular periphery encompassing all agents. The two key elements of the proposed policy include the construction of a set of convex layers (nested…
Multi-robot patrolling represents a fundamental problem for many monitoring and surveillance applications and has gained significant interest in recent years. In patrolling, mobile robots repeatedly travel through an environment, capture…
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…
The problem of path planning for automated parking is usually presented as finding a collision-free path from initial to goal positions, where three out of four parking slot edges represent obstacles. We rethink the path planning problem…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
Suppose that a set of mobile agents, each with a predefined maximum speed, want to patrol a fence together so as to minimize the longest time interval during which a point on the fence is left unvisited. In 2011, Czyzowicz, G\k{a}sieniec,…
We consider the routing flow shop problem with two machines on an asymmetric network. For this problem we discuss properties of an optimal schedule and present a polynomial time algorithm assuming the number of nodes of the network to be…
Motivated by the need of {\em social distancing} during a pandemic, we consider an approach to schedule the visitors of a facility (e.g., a general store). Our algorithms take input from the citizens and schedule the store's discrete…
We investigate the distributed planning of robot trajectories for optimal execution of cooperative tasks with time windows. In this setting, each task has a value and is completed if sufficiently many robots are simultaneously present at…
In this paper, we plan missions for a fleet of agents in undirected graphs, such as grids, with multiple goals. In contrast to regular multi-agent path-finding, the solver finds and updates the assignment of goals to the agents on its own.…
Graph planning gives rise to fundamental algorithmic questions such as shortest path, traveling salesman problem, etc. A classical problem in discrete planning is to consider a weighted graph and construct a path that maximizes the sum of…
In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by…
We consider the problem of allocating orders to multiple stations and sequencing the interlinked order and rack processing flows in each station in the robot-assisted KIVA warehouse. The various decisions involved in the problem, which are…
This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…
This paper presents an integrated algorithmic framework for minimising product delivery costs in e-commerce (known as the cost-to-serve or C2S). One of the major challenges in e-commerce is the large volume of spatio-temporally diverse…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…
In \emph{Online Sorting}, an array of $n$ initially empty cells is given. At each time step $t$, an element $x_t \in [0,1]$ arrives and must be placed irrevocably into an empty cell without any knowledge of future arrivals. We aim to…
In \emph{Online Sorting}, an array of $n$ initially empty cells is given. At each time step $t$, an element $x_t \in [0,1]$ arrives and must be placed irrevocably into an empty cell without any knowledge of future arrivals. We aim to…
This paper introduces a comprehensive approach to optimize parking efficiency for connected and Automated vehicle (CAVs) fleets. We present a multi-vehicle parking simulator, equipped with hierarchical path planning and collision avoidance…
This paper considers the problem of steering a vast group of agents of which the dynamics are governed by a discrete-time first-order linear system. The group of agents are characterized as a probability density function and an occupation…