Related papers: Parking Problem by Oblivious Mobile Robots in Infi…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
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…
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…
The growing integration of mobile robots in shared workspaces requires efficient path planning and coordination between the agents, accounting for safety and productivity. In this work, we propose a digital model-based optimization…
The OBLOT model has been extensively studied in theoretical swarm robotics. It assumes weak capabilities for the involved mobile robots, such as they are anonymous, disoriented, no memory of past events (oblivious), and silent. Their only…
Designing efficient car parking mechanisms that can be potentially integrated into future intelligent transportation systems is of crucial importance. Usually, the related design problems are combinatorial and the worst-case complexity of…
Given a set of $n\geq 1$ autonomous, anonymous, indistinguishable, silent, and possibly disoriented mobile unit disk (i.e., fat) robots operating following Look-Compute-Move cycles in the Euclidean plane, we consider the Pattern Formation…
In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited inter-robot communication. The robots explore the…
In this paper, we use simulated swarms of robots to further explore the aggregation dynamics generated by these simple individual mechanisms. Our objective is to study the introduction of "informed robots", and to study how many of these…
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.…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
We present how we formalize the waiting tables task in a restaurant as a robot planning problem. This formalization was used to test our recently developed algorithms that allow for optimal planning for achieving multiple independent tasks…
In a robotic mobile fulfillment system, robots bring shelves, called pods, with storage items from the storage area to pick stations. At every pick station there is a person -- the picker -- who takes parts from the pod and packs them into…
We consider a distributed system consisting of autonomous mobile computing entities, called robots, moving in a specified space. The robots are anonymous, oblivious, and have neither any access to the global coordinate system nor any…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
Autonomous ride-hailing platforms must strategically position idle robotaxis to minimize the wait times of prospective riders. We formalize this as the \emph{robotaxi placement problem} ($k$-RP). Given a finite metric space and a demand…
Smart-parking solutions use sensors, cameras, and data analysis to improve parking efficiency and reduce traffic congestion. Computer vision-based methods have been used extensively in recent years to tackle the problem of parking lot…
The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
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…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…