Related papers: The Correlated Arc Orienteering Problem
The orienteering problem is a route optimization problem which consists in finding a simple cycle that maximizes the total collected profit subject to a maximum distance limitation. In the last few decades, the occurrence of this problem in…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
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…
This paper tackles the multi-vehicle Coverage Path Planning (CPP) problem, crucial for applications like search and rescue or environmental monitoring. Due to its NP-hard nature, finding optimal solutions becomes infeasible with larger…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Finding the Time-Optimal Parameterization of a Path (TOPP) subject to second-order constraints (e.g. acceleration, torque, contact stability, etc.) is an important and well-studied problem in robotics. In comparison, TOPP subject to…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
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…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
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 work we consider a multi-robot team operating in an unknown environment where one aerial agent is tasked to map the environment and transmit (a portion of) the mapped environment to a group of ground agents that are trying to reach…
In services such as retail audits and urban infrastructure monitoring, a platform dispatches rewarded, location-based micro-tasks to mobile workers traveling along personal origin-destination (OD) trips under hard time budgets. As requests…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
This paper focuses on Passable Obstacles Aware (POA) planner - a novel navigation method for two-wheeled robots in a highly cluttered environment. The navigation algorithm detects and classifies objects to distinguish two types of obstacles…
Real-world robotic tasks require complex reward functions. When we define the problem the robot needs to solve, we pretend that a designer specifies this complex reward exactly, and it is set in stone from then on. In practice, however,…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…