Related papers: Multi-Robot Pickup and Delivery via Distributed Re…
Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks…
We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…
This paper introduces a new generic problem to the literature of Workforce Scheduling and Routing Problem. In this problem, multiple workers are assigned to a shared vehicle based on their qualifications and customer demands, and then the…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…
Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…
Coordinating time-sensitive deliveries in environments like hospitals poses a complex challenge, particularly when managing multiple online pickup and delivery requests within strict time windows using a team of heterogeneous robots.…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
The drone-based last-mile delivery is an emerging technology to deliver parcels using drones loaded on a truck. As more and more autonomous vehicles (AVs) will be available for delivery services, an opportunity is arising to fully automate…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
One of the major challenges in the coordination of large, open, collaborative, and commercial vehicle fleets is dynamic task allocation. Self-concerned individually rational vehicle drivers have both local and global objectives, which…
With the rapid development of smart mobile devices, the car-hailing platforms (e.g., Uber or Lyft) have attracted much attention from both the academia and the industry. In this paper, we consider an important dynamic car-hailing problem,…
Collaborative Vehicle Routing is where delivery companies cooperate by sharing their delivery information and performing delivery requests on behalf of each other. This achieves economies of scale and thus reduces cost, greenhouse gas…
In this paper, we consider the multi-robot path execution problem where a group of robots move on predefined paths from their initial to target positions while avoiding collisions and deadlocks in the face of asynchrony. We first show that…
We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be…
This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the…
In this paper, we propose a decentralized coordina- tion algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on a shared…
Multi-robot systems are uniquely well-suited to performing complex tasks such as patrolling and tracking, information gathering, and pick-up and delivery problems, offering significantly higher performance than single-robot systems. A…
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…
This paper presents a distributed algorithm applicable to a wide range of practical multi-robot applications. In such multi-robot applications, the user-defined objectives of the mission can be cast as a general optimization problem,…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…