Related papers: KC-TSS: An Algorithm for Heterogeneous Robot Teams…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…
Tradable credit schemes (TCS) are an increasingly studied alternative to congestion pricing, given their revenue neutrality and ability to address issues of equity through the initial credit allocation. Modeling TCS to aid future design and…
In this paper, we consider the problem of optimally allocating tasks, expressed as global Linear Temporal Logic (LTL) specifications, to teams of heterogeneous mobile robots. The robots are classified in different types that capture their…
Mobile robots hold great promise in reducing the need for humans to perform jobs such as vacuuming, seeding,harvesting, painting, search and rescue, and inspection. In practice, these tasks must often be done without an exact map of the…
Efficiently obtaining the up-to-date information in the disaster-stricken area is the key to successful disaster response. Unmanned aerial vehicles (UAVs), workers and cars can collaborate to accomplish sensing tasks, such as data…
The Multi-Agent Path Finding (MAPF) problem entails finding collision-free paths for a set of agents, guiding them from their start to goal locations. However, MAPF does not account for several practical task-related constraints. For…
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…
In this study, we explore the application of game theory, in particular Stackelberg games, to address the issue of effective coordination strategy generation for heterogeneous robots with one-way communication. To that end, focusing on the…
We address a fundamental challenge in space mission design and space logistics: planning interplanetary trajectories for missions that must rendezvous with multiple bodies. Such mission occur, for instance, in active debris removal,…
This work addresses the uniform parallel machine scheduling problem within an optimistic bilevel optimization framework. The leader seeks to minimize the weighted number of tardy jobs, while the follower aims to minimize the total…
The Traveling Salesperson Problem (TSP) is a fundamental NP-hard optimisation challenge with widespread applications in logistics, operations research, and network design. While classical algorithms effectively solve small to medium-sized…
Crowdsourced delivery (CSD) is an emerging business model that leverages the underutilized or excess capacity of individual drivers to fulfill delivery tasks. This paper presents a general formulation of a larege-scale two-sided CSD…
Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining…
Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…
We show how an evolutionary algorithm can successfully be used to evolve a set of difficult to solve symmetric travelling salesman problem instances for two variants of the Lin-Kernighan algorithm. Then we analyse the instances in those…
In scenarios like automated warehouses, assigning tasks to robots presents a heterogeneous multi-task and multi-agent task allocation problem. However, existing task allocation study ignores the integration of multi-task and multi-attribute…
An important variant of the classic Traveling Salesman Problem (TSP) is the Dynamic TSP, in which a system with dynamic constraints is tasked with visiting a set of n target locations (in any order) in the shortest amount of time. Such…
This paper considers the problem of autonomous multi-agent cooperative target search in an unknown environment using a decentralized framework under a no-communication scenario. The targets are considered as static targets and the agents…
We present approximation algorithms for almost all variants of the multi-criteria traveling salesman problem (TSP). First, we devise randomized approximation algorithms for multi-criteria maximum traveling salesman problems (Max-TSP). For…