Related papers: Task Allocation using a Team of Robots
We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…
The task allocation problem in multi-robot systems (MRTA) is an NP-hard problem whose viable solutions are usually found by heuristic algorithms. Considering the increasing need of improvement on logistics, the use of robots for increasing…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
Human-Machine Teaming (HMT) is revolutionizing collaboration across domains such as defense, healthcare, and autonomous systems by integrating AI-driven decision-making, trust calibration, and adaptive teaming. This survey presents a…
Given a heterogeneous group of robots executing a complex task represented in Linear Temporal Logic, and a new set of tasks for the group, we define the task update problem and propose a framework for automatically updating individual robot…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
Framing an issue as a puzzle, problem, or mess is an illustrative approach to characterizing the issue's complexity within organizational theory and systems thinking. We use this approach to characterize the issue of designing collective…
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…
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…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…
According to several empirical investigations, despite enhancing human capabilities, human-AI cooperation frequently falls short of expectations and fails to reach true synergy. We propose a task-driven framework that reverses prevalent…
When teams of robots collaborate to complete a task, communication is often necessary. Like humans, robot teammates should implicitly communicate through their actions: but interpreting our partner's actions is typically difficult, since a…
The assignment of personnel to teams is a fundamental and ubiquitous managerial function, typically involving several objectives and a variety of idiosyncratic practical constraints. Despite the prevalence of this task in practice, the…
A major, ongoing social transition is the inclusion of autonomous agents into human organizations. For example, in defence and security applications, robots may be used alongside human operatives to reduce risk or add capability. But a key…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under…