Related papers: Resilient Task Allocation in Heterogeneous Multi-R…
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.…
We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
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…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…
We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs hierarchical trees to systematically break down complex…
Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
The task allocation problem in multi-robot systems (MRTA) is an NP-hard problem whose viable solutions are usually found by heuristic algorithms. Considering the increasing need of improvement on logistics, the use of robots for increasing…
Multi-robot systems are emerging as a promising solution to the growing demand for productivity, safety, and adaptability across industrial sectors. However, effectively coordinating multiple robots in dynamic and uncertain environments,…
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
We study the problem of assigning robots with actions to track targets. The objective is to optimize the robot team's tracking quality which can be defined as the reduction in the uncertainty of the targets' states. Specifically, we…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
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…
Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…