Related papers: Fast Near-Optimal Heterogeneous Task Allocation vi…
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…
This paper addresses the task allocation problem for multi-robot systems. The main issue with the task allocation problem is inherent complexity that makes finding an optimal solution within a reasonable time almost impossible. To hand the…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
We study the problem of selecting a fleet of robots to service spatially distributed tasks with diverse requirements within time-windows. The problem of allocating tasks to a fleet of potentially heterogeneous robots and finding an optimal…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
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,…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
Robotic systems, working together as a team, are becoming valuable players in different real-world applications, from disaster response to warehouse fulfillment services. Centralized solutions for coordinating multi-robot teams often suffer…
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…
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…
Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such tasks is overly conservative, while purely reactive…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
In this paper, we study the multi-robot task allocation problem where a group of robots needs to be allocated to a set of tasks so that the tasks can be finished optimally. One task may need more than one robot to finish it. Therefore the…
This paper studies heterogeneous multi-team collaboration through dynamic robot allocation, where robots are treated as transferable resources. Leveraging Hamilton's rule from ecology as an altruistic decision-making mechanism, we propose a…
We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…
The demand for large-scale deep learning is increasing, and distributed training is the current mainstream solution. Ring AllReduce is widely used as a data parallel decentralized algorithm. However, in a heterogeneous environment, each…