Related papers: Collision-Free Robot Scheduling
In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions…
We study the problem of scheduling precedence-constrained jobs on heterogenous machines in the presence of non-uniform job and machine communication delays. We are given as input $n$ unit size precedence-ordered jobs and $m$ related…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
Most existing robot formation problems seek a target formation of a certain \emph{minimal} and, thus, efficient structure. Examples include the Gathering and the Chain-Formation problem. In this work, we study formation problems that try to…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…
In this paper, we consider the Constant-cost Orienteering Problem (COP) where a robot, constrained by a limited travel budget, aims at selecting a path with the largest reward in an aisle-graph. The aisle-graph consists of a set of loosely…
Multirobot systems for covering environments are increasingly used in applications like cleaning, industrial inspection, patrolling, and precision agriculture. The problem of covering a given environment using multiple robots can be…
This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
We present a number of breakthroughs for coordinated motion planning, in which the objective is to reconfigure a swarm of labeled convex objects by a combination of parallel, continuous, collision-free translations into a given target…
We address the Multi-Robot Motion Planning (MRMP) problem of computing collision-free trajectories for multiple robots in shared continuous environments. While existing frameworks effectively decompose MRMP into single-robot subproblems,…
We introduce and study the Joint Task Assistance Planning problem which generalizes prior work on optimizing assistance in robotic collaboration. In this setting, two robots operate over predefined roadmaps, each represented as a graph…
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However, in such environments, communication links may be…
Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…