Related papers: Towards Practical Multi-Robot Hybrid Tasks Allocat…
Robot swarms, systems of many robots that operate in a distributed fashion, have many applications in areas such as search-and-rescue, natural disaster response, and self-assembly. Several of these applications can be abstracted to the…
The rapid advance of large-scale AI systems is reshaping how work is divided between people and machines. We formalise this reallocation as an iterated task-delegation map and show that--under broad, empirically grounded assumptions--the…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
Successful human-robot teaming will require robots to adapt autonomously to a human teammate's internal state, where a critical element of such adaptation is the ability to estimate the human's workload in unknown situations. Existing…
This paper presents a distributed multi-robot printing method which utilizes an optimization approach to decompose and allocate a printing task to a group of mobile robots. The motivation for this problem is to minimize the printing time of…
Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…
Complex multi-objective missions require the coordination of heterogeneous robots at multiple inter-connected levels, such as coalition formation, scheduling, and motion planning. The associated challenges are exacerbated when solutions to…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
We present a formal tasK AllocatioN and scheduling apprOAch for multi-robot missions (KANOA). KANOA supports two important types of task constraints: task ordering, which requires the execution of several tasks in a specified order; and…
This paper introduces a modified self-organized task allocation algorithm, where robots are assigned to pick up one of the two types of object. This paper also demonstrates both algorithms by showing the simulation results of the…
Mobile robot fleets are currently used in different scenarios such as medical environments or logistics. The management of these systems provides different challenges that vary from the control of the movement of each robot to the…
Trust is essential in human-robot collaboration, particularly in multi-human, multi-robot (MH-MR) teams, where it plays a crucial role in maintaining team cohesion in complex operational environments. Despite its importance, trust is rarely…
We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…
Efficient utilization of cooperating robots in the assembly of aircraft structures relies on balancing the workload of the robots and ensuring collision-free scheduling. We cast this problem as that of allocating a large number of…
The hunter and gatherer approach copes with the problem of dynamic multi-robot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring…
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…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
By incorporating ergonomics principles into the task allocation processes, human-robot collaboration (HRC) frameworks can favour the prevention of work-related musculoskeletal disorders (WMSDs). In this context, existing offline…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
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.…