Related papers: A Mixed-Integer Linear Programming Formulation for…
Mixed-Integer Linear Programming (MILP) is a fundamental and powerful framework for modeling complex optimization problems across diverse domains. Recently, learning-based methods have shown great promise in accelerating MILP solvers by…
Due to the potentially large number of units involved, the interaction with a multi-robot system is likely to exceed the limits of the span of apprehension of any individual human operator. In previous work, we studied how this issue can be…
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…
Influence diagrams represent decision-making problems with interdependencies between random events, decisions, and consequences. Traditionally, they have been solved using algorithms that determine the expected utility-maximizing decision…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
Covering problems are well-studied in the domain of Operations Research, and, more specifically, in Location Science. When the location space is a network, the most frequent assumption is to consider the candidate facility locations, the…
Inventory management, vehicle routing, and delivery scheduling decisions are simultaneously considered in the context of the inventory routing problem. This paper focuses on the continuous-time version of this problem where, unlike its more…
In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions…
In this work, we address the problem of control synthesis for a homogeneous team of robots given a global temporal logic specification and formal user preferences for relaxation in case of infeasibility. The relaxation preferences are…
This article presents an approximation algorithm for a task allocation, sequencing and scheduling problem involving a team of human operators and robots. Specifically, we present an algorithm with an approximation ratio as a function of the…
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…
In this paper, we show how a resource allocation problem can be solved through Integer Linear Programming (ILP). A detailed illustrative example is presented, together with an exhaustive overview of the mathematical model. The size of the…
Mixed-Integer Quadratic Programming (MIQP) has been identified as a suitable approach for finding an optimal solution to the behavior planning problem with low runtimes. Logical constraints and continuous equations are optimized alongside.…
In this paper, we tackle the problem of human-robot coordination in sequences of manipulation tasks. Our approach integrates hierarchical human motion prediction with Task and Motion Planning (TAMP). We first devise a hierarchical motion…
In this paper the problem of cooperative task planning of multi-agent systems when timed constraints are imposed to the system is investigated. We consider timed constraints given by Metric Interval Temporal Logic (MITL). We propose a…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
Effective resource allocation plays a pivotal role for performance optimization in wireless networks. Unfortunately, typical resource allocation problems are mixed-integer nonlinear programming (MINLP) problems, which are NP-hard. Machine…
In environments like offices, the duration of a robot's navigation between two locations may vary over time. For instance, reaching a kitchen may take more time during lunchtime since the corridors are crowded with people heading the same…
A current trend in networking and cloud computing is to provide compute resources at widely dispersed places; this is exemplified by developments such as Network Function Virtualisation. This paves the way for wide-area service deployments…
A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the…