Related papers: Multi-Robot Task Allocation -- Complexity and Appr…
Task allocation using a team or coalition of robots is one of the most important problems in robotics, computer science, operational research, and artificial intelligence. In recent work, research has focused on handling complex objectives…
Task allocation has been a well studied problem. In most prior problem formulations, it is assumed that each task is associated with a unique set of resource requirements. In the scope of multi-robot task allocation problem, these…
One simplifying assumption in existing and well-performing task allocation methods is that the robots are single-tasking: each robot operates on a single task at any given time. While this assumption is harmless to make in some situations,…
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 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…
We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot…
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…
We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with densely populated obstacles and narrow passages. In such…
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…
We consider a new variant of the multi-robot task allocation problem - Inverse Risk-sensitive Multi-Robot Task Allocation (IR-MRTA). "Forward" MRTA - the process of deciding which robot should perform a task given the reward (cost)-related…
In order to fully exploit the advantages inherent to cooperating heterogeneous multi-robot teams, sophisticated coordination algorithms are essential. Time-extended multi-robot task allocation approaches assign and schedule a set of tasks…
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…
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,…
We consider here the MultiBot problem for the scheduling and the resource parametrization of jobs related to the production or the transportation of different products inside a given time horizon. Those jobs must meet known in advance…
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…
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…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
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…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturbances and unpredicted phenomena in the environment where…