Related papers: Multi-Robot Task Allocation -- Complexity and Appr…

Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…

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,…

Multi-Robot Task Planning (MR-TP) is the search for a discrete-action plan a team of robots should take to complete a task. The complexity of such problems scales exponentially with the number of robots and task complexity, making them…

In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…

There is now a large body of techniques, many based on formal methods, for describing and realizing complex robotics tasks, including those involving a variety of rich goals and time-extended behavior. This paper explores the limits of what…

We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…

Resource allocation and task prioritisation are key problem domains in the fields of autonomous vehicles, networking, and cloud computing. The challenge in developing efficient and robust algorithms comes from the dynamic nature of these…

Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…

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…

Algorithmic efficiency is essential to reducing energy and time usage for computational problems. Optimizing efficiency is important for tasks involving multiple resources, for example in stochastic calculations where the size of the random…

In operations of multi-agent teams ranging from homogeneous robot swarms to heterogeneous human-autonomy teams, unexpected events might occur. While efficiency of operation for multi-agent task allocation problems is the primary objective,…

We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…

To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…

Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…

Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…

Multi-task learning is a very challenging problem in reinforcement learning. While training multiple tasks jointly allow the policies to share parameters across different tasks, the optimization problem becomes non-trivial: It remains…

In the restricted assignment problem, the input consists of a set of machines and a set of jobs each with a processing time and a subset of eligible machines. The goal is to find an assignment of the jobs to the machines minimizing the…

The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to make the robots resilient to failures. In particular, robots…

This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…

The task-specific optimization of robotic systems has long been divided into the optimization of the robot and the optimization of the environment. In this letter, we argue that these two problems are interdependent and should be treated as…