Related papers: Hierarchically Decentralized Heterogeneous Multi-R…
In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the…
We introduce a novel strategy for multi-robot sorting of waste objects using Reinforcement Learning. Our focus lies on finding optimal picking strategies that facilitate an effective coordination of a multi-robot system, subject to…
Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…
This paper presents LEMURS, an algorithm for learning scalable multi-robot control policies from cooperative task demonstrations. We propose a port-Hamiltonian description of the multi-robot system to exploit universal physical constraints…
Search and Rescue (SAR) missions in remote environments often employ autonomous multi-robot systems that learn, plan, and execute a combination of local single-robot control actions, group primitives, and global mission-oriented…
Since the recent Covid-19 pandemic, mobile manipulators and humanoid assistive robots with higher levels of autonomy have increasingly been adopted for patient care and living assistance. Despite advancements in autonomy, these robots often…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
Marsupial robot teams consist of carrier robots that transport and deploy multiple passenger robots, such as a team of ground robots that carry and deploy multiple aerial robots, to rapidly explore complex environments. We specifically…
Spatial crowdsourcing (SC) enables the assignment of location-based tasks to mobile users who must travel to specific locations to perform sensing or service activities. However, SC systems often operate in strategic environments where both…
In this paper, we consider a large-scale instance of the classical Pickup-and-Delivery Vehicle Routing Problem (PDVRP) that must be solved by a network of mobile cooperating robots. Robots must self-coordinate and self-allocate a set of…
In collaborative human-robot order picking systems, human pickers and Autonomous Mobile Robots (AMRs) travel independently through a warehouse and meet at pick locations where pickers load items onto the AMRs. In this paper, we consider an…
With robots entering the world of Cyber Physical Systems (CPS), ordering the execution of allocated tasks during run-time becomes crucial. This is so because, in a real world, there can be several physical tasks that use shared resources…
The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…
As the number of resources on chip multiprocessors (CMPs) increases, the complexity of how to best allocate these resources increases drastically. Because the higher number of applications makes the interaction and impacts of various memory…
Dexterous manipulation tasks usually have multiple objectives, and the priorities of these objectives may vary at different phases of a manipulation task. Varying priority makes a robot hardly or even failed to learn an optimal policy with…
To build a sustainable and affordable space transportation system for human space exploration, the design and deployment of space infrastructures are critical; one attractive and promising infrastructure system is the in-situ resource…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…