Related papers: Scheduling Operator Assistance for Shared Autonomy…

Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexity, LTL formulas…

Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…

We define a new problem called the Vehicle Scheduling Problem (VSP). The goal is to minimize an objective function, such as the number of tardy vehicles over a transportation network subject to maintaining safety distances, meeting hard…

In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…

When designing a motion planner for autonomous robots there are usually multiple objectives to be considered. However, a cost function that yields the desired trade-off between objectives is not easily obtainable. A common technique across…

We present a number of novel algorithms, based on mathematical optimization formulations, in order to solve a homogeneous multiprocessor scheduling problem, while minimizing the total energy consumption. In particular, for a system with a…

We consider the problem of scheduling jobs with equal lengths on uniform parallel batch machines with non-identical capacities where each job can only be processed on a specified subset of machines called its processing set. For the case of…

We study a new formulation of the team-formation problem, where the goal is to form teams to work on a given set of tasks requiring different skills. Deviating from the classic problem setting where one is asking to cover all skills of each…

This research addresses the multiprocessor scheduling problem of hard real-time systems, and it especially focuses on optimal and global schedulers when practical constraints are taken into account. First, we propose an improvement of the…

While the increased automation levels of production and operation equipment have led to improved productivity of mining activity in open pit mines, the capacity of mine transport system become a bottleneck. The optimization of mine…

We study a public event scheduling problem, where multiple public events are scheduled to coordinate the availability of multiple agents. The availability of each agent is determined by solving a separate flexible interval job scheduling…

The paper considers scheduling on parallel machines under the constraint that some pairs of jobs cannot be processed concurrently. Each job has an associated weight, and all jobs have the same deadline. The objective is to maximise the…

We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…

We consider the problem of coordinating a fleet of robots in a warehouse so as to maximize the reward achieved within a time limit while respecting problem and robot specific constraints. We formulate the problem as a weighted set packing…

This paper considers the problem of designing a dynamical system to solve constrained optimization problems in a distributed way and in an anytime fashion (i.e., such that the feasible set is forward invariant). For problems with separable…

In this paper we consider the coupled task scheduling problem with exact delay times on a single machine with the objective of minimizing the total completion time of the jobs. We provide constant-factor approximation algorithms for several…

This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…

With robots entering the world of Cyber Physical Systems (CPS), ordering the execution of allocated tasks during run-time becomes crucial. This is so because, in a real world, there can be several physical tasks that use shared resources…

Many problems of interest for cyber-physical network systems can be formulated as Mixed Integer Linear Programs in which the constraints are distributed among the agents. In this paper we propose a distributed algorithm to solve this class…

In this work, we study the multi-agent decision problem where agents try to coordinate to optimize a given system-level objective. While solving for the global optimal is intractable in many cases, the greedy algorithm is a well-studied and…