Related papers: Task Allocation and Coordinated Motion Planning fo…
We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
In disaster response or surveillance operations, quickly identifying areas needing urgent attention is critical, but deploying response teams to every location is inefficient or often impossible. Effective performance in this domain…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
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-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…
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…
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…
Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure. The workload of ROV operators tends to be high, even for the skilled ones. Therefore, assistance…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…