Related papers: Collision-Free Robot Scheduling
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…
In order to fully exploit the advantages inherent to cooperating heterogeneous multi-robot teams, sophisticated coordination algorithms are essential. Time-extended multi-robot task allocation approaches assign and schedule a set of tasks…
We study a natural variant of scheduling that we call \emph{partial scheduling}: In this variant an instance of a scheduling problem along with an integer $k$ is given and one seeks an optimal schedule where not all, but only $k$ jobs, have…
In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
We consider the following surveillance problem: Given a set $P$ of $n$ sites in a metric space and a set of $k$ robots with the same maximum speed, compute a patrol schedule of minimum latency for the robots. Here a patrol schedule…
This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…
The line coverage problem involves finding efficient routes for the coverage of linear features by one or more resource-constrained robots. Linear features model environments like road networks, power lines, and oil and gas pipelines. Two…
We introduce a parallel machine scheduling problem in which the processing times of jobs are not given in advance but are determined by a system of linear constraints. The objective is to minimize the makespan, i.e., the maximum job…
In many industrial robotics applications, such as spot-welding, spray-painting or drilling, the robot is required to visit successively multiple targets. The robot travel time among the targets is a significant component of the overall…
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…
We introduce a variation of the scheduling with precedence constraints problem that has applications to molecular folding and production management. We are given a bipartite graph $H=(B,S)$. Vertices in $B$ are thought of as goods or…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
The paper considers scheduling on parallel machines under the constraint that some pairs of jobs cannot be processed concurrently. Each job has an associated weight, and all jobs have the same deadline. The objective is to maximise the…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
We consider the problem of scheduling $n$ precedence-constrained jobs on $m$ uniformly-related machines in the presence of an arbitrary, fixed communication delay $\rho$. We consider a model that allows job duplication, i.e. processing of…
In this paper we present a method for automatically planning 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 system. The…
In this paper, a non-iterative spatio-temporal multi-task assignment approach is used for playing piano music by a team of robots. This paper considers the piano playing problem, in which an algorithm needs to compute the trajectories for a…
In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a…