Related papers: A Dynamic Heterogeneous Team-based Non-iterative A…
Complex, multi-objective missions require the coordination of heterogeneous robots at multiple inter-connected levels, such as coalition formation, scheduling, and motion planning. This challenge is exacerbated by dynamic changes, such as…
We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…
In this paper we present a method for automatically planning robust 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…
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot…
We investigate the problem of heterogeneous task assignment in crowdsourcing markets from the point of view of the requester, who has a collection of tasks. Workers arrive online one by one, and each declare a set of feasible tasks they can…
Timely delivery and optimal routing remain fundamental challenges in the modern logistics industry. Building on prior work that considers single-package delivery across networks using multiple types of collaborative agents with restricted…
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…
This paper proposes a control method for the multi-agent pickup and delivery problem (MAPD problem) by extending the priority inheritance with backtracking (PIBT) method to make it applicable to more general environments. PIBT is an…
This paper focuses on an online version of the emerging distributed constrained aggregative optimization framework, which is particularly suited for applications arising in cooperative robotics. Agents in a network want to minimize the sum…
This paper studies heterogeneous multi-team collaboration through dynamic robot allocation, where robots are treated as transferable resources. Leveraging Hamilton's rule from ecology as an altruistic decision-making mechanism, we propose a…
Robot allocation plays an essential role in facilitating robotic service provision across various domains. Yet the increasing number of users and the uncertainties regarding the users' true service requirements have posed challenges for the…
We introduce the Pickup and Delivery Problem with Time Windows and Scheduling on the Edges (PDPTW-SE), a generalization of the PDPTW that integrates vehicle routing and machine scheduling. The problem involves defining routes for…
This paper presents a computationally efficient model for optimizing real-time decisions in humanitarian aid delivery systems. Our formulation models a hierarchical system and is a mixed integer, probabilistic, non-linear and non-concave…
The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
Multi-Robot Task Allocation (MRTA) is the problem of distributing a set of tasks to a team of robots with the objective of optimising some criteria, such as minimising the amount of time or energy spent to complete all the tasks or…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
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 focuses on exact methods for a Simultaneous Vehicle Routing and Crew Scheduling Problem in long-haul transport. Pickup-and-delivery requests with time windows must be fullfiled over a multi-day planning horizon. Unlike some…
Long-term monitoring of numerous dynamic targets can be tedious for a human operator and infeasible for a single robot, e.g., to monitor wild flocks, detect intruders, search and rescue. Fleets of autonomous robots can be effective by…