Related papers: Robust Multiple-Path Orienteering Problem: Securin…
The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…
The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…
In this letter, we consider a distributed submodular maximization problem for multi-robot systems when attacked by adversaries. One of the major challenges for multi-robot systems is to increase resilience against failures or attacks. This…
The orienteering problem (OP) is a combinatorial optimization problem that seeks a path visiting a subset of locations to maximize collected rewards under a limited resource budget. This article presents a systematic PRISMA-based review of…
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
In this paper, we propose a novel methodology for path planning and scheduling for multi-robot navigation that is based on optimal transport theory and model predictive control. We consider a setup where $N$ robots are tasked to navigate to…
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
Cooperative path planning is gaining its importance due to the increasing demand on using multiple unmanned aerial vehicles (UAVs) for complex missions. This work addresses the problem by introducing a new algorithm named MultiRRT that…
The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…
Planning under model uncertainty is a fundamental problem across many applications of decision making and learning. In this paper, we propose the Robust Adaptive Monte Carlo Planning (RAMCP) algorithm, which allows computation of…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
We consider the P2P orienteering problem on general metrics and present a (2+{\epsilon}) approximation algorithm. In the stochastic P2P orienteering problem we are given a metric and each node has a fixed reward and random size. The goal is…
We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
The constrained path optimization (CPO) problem takes the following input: (a) a road network represented as a directed graph, where each edge is associated with a "cost" and a "score" value; (b) a source-destination pair and; (c) a budget…
We study optimal Multi-robot Path Planning (MPP) on graphs, in order to improve the efficiency of multi-robot system (MRS) in the warehouse-like environment. We propose a novel algorithm, OMRPP (One-way Multi-robot Path Planning) based on…
Autonomous Mobile Robots (AMRs) operate on battery power, making energy efficiency a critical consideration, particularly in outdoor environments where terrain variations affect energy consumption. While prior research has primarily focused…