Related papers: Scheduling of Missions with Constrained Tasks for …
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
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…
Collaborative robotics cells leverage heterogeneous agents to provide agile production solutions. Effective coordination is essential to prevent inefficiencies and risks for human operators working alongside robots. This paper proposes a…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
Drones are currently seen as a viable way for improving the distribution of parcels in urban and rural environments, while working in coordination with traditional vehicles like trucks. In this paper we consider the parallel drone…
IIoT services focused on industry-oriented services often require objects run more than one task. IIoT objects poses the challenge of distributing and managing task allocation among them. The fairness of task allocation brings flexible…
We consider a probabilistic model for large-scale task allocation problems for multi-agent systems, aiming to determine an optimal deployment strategy that minimizes the overall transport cost. Specifically, we assign transportation agents…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
We propose three novel mathematical optimization formulations that solve the same two-type heterogeneous multiprocessor scheduling problem for a real-time taskset with hard constraints. Our formulations are based on a global scheduling…
This paper presents a consensus-based payload algorithm (CBPA) to deal with the condition of robots' capability decrease for multi-robot task allocation. During the execution of complex tasks, robots' capabilities could decrease with the…
Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
Multi-robot systems are uniquely well-suited to performing complex tasks such as patrolling and tracking, information gathering, and pick-up and delivery problems, offering significantly higher performance than single-robot systems. A…
Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
We propose a novel formulation of the collision-aware task assignment (CATA) problem and a decentralized auction-based algorithm to solve the problem with optimality bound. Using a collision cone, we predict potential collisions and…
The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…
In this paper we consider a stochastic deployment problem, where a robotic swarm is tasked with the objective of positioning at least one robot at each of a set of pre-assigned targets while meeting a temporal deadline. Travel times and…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…