Related papers: Unconstraining Multi-Robot Manipulation: Enabling …
Tasks for multi-robot systems often require the robots to collaborate and complete a team goal while maintaining safety. This problem is usually formalized as a constrained Markov decision process (CMDP), which targets minimizing a global…
Multi-Agent Path Finding (MAPF) algorithms, including those for car-like robots and grid-based scenarios, face significant computational challenges due to expensive heuristic calculations. Traditional heuristic caching assumes that the…
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…
We study an important variant of the stochastic multi-armed bandit (MAB) problem, which takes penalization into consideration. Instead of directly maximizing cumulative expected reward, we need to balance between the total reward and…
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that…
Branch-and-bound (BnB) algorithms are widely used to solve combinatorial problems, and the performance crucially depends on its branching heuristic.In this work, we consider a typical problem of maximum common subgraph (MCS), and propose a…
Path planning is a crucial algorithmic approach for designing robot behaviors. Sampling-based approaches, like rapidly exploring random trees (RRTs) or probabilistic roadmaps, are prominent algorithmic solutions for path planning problems.…
When a reinforcement learning (RL) method has to decide between several optional policies by solely looking at the received reward, it has to implicitly optimize a Multi-Armed-Bandit (MAB) problem. This arises the question: are current RL…
In this paper we study a generalized version of classical multi-armed bandits (MABs) problem by allowing for arbitrary constraints on constituent bandits at each decision point. The motivation of this study comes from many situations that…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
We study the multi-agent multi-armed bandit (MAMAB) problem, where $m$ agents are factored into $\rho$ overlapping groups. Each group represents a hyperedge, forming a hypergraph over the agents. At each round of interaction, the learner…
Restless multi-armed bandits (RMAB) have been widely used to model sequential decision making problems with constraints. The decision maker (DM) aims to maximize the expected total reward over an infinite horizon under an "instantaneous…
The Collaborative Task Sequencing and Multi-Agent Path Finding (CTS-MAPF) problem requires agents to accomplish sequences of tasks while avoiding collisions, posing significant challenges due to its combinatorial complexity. This work…
Low-cost distributed robots suffer from limited onboard computing power, resulting in excessive computation time when navigating in cluttered environments. This paper presents Edge Accelerated Robot Navigation (EARN), to achieve real-time…
Large language model (LLM)-based agents are increasingly used to perform complex, multi-step workflows in regulated settings such as compliance and due diligence. However, many agentic architectures rely primarily on prompt engineering of a…
We consider a rate-constrained contextual multi-armed bandit (RC-CMAB) problem, in which a group of agents are solving the same contextual multi-armed bandit (CMAB) problem. However, the contexts are observed by a remotely connected entity,…
We introduce a novel problem setting for algorithmic contract design, named the principal-MARL contract design problem. This setting extends traditional contract design to account for dynamic and stochastic environments using Markov Games…
In the combinatorial semi-bandit (CSB) problem, a player selects an action from a combinatorial action set and observes feedback from the base arms included in the action. While CSB is widely applicable to combinatorial optimization…
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…
In next generation of Wi-Fi networks Multiple Access Point Coordination (MAPC) is poised to significantly enhance the network performance by enabling a set of Access Points (APs) to coordinate with each other through advanced coordinating…