Related papers: Hierarchically Decentralized Heterogeneous Multi-R…
The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces significant challenges when some robots are lost or deviate from…
LLM-based multi-agent systems have demonstrated significant capabilities across diverse domains. However, the task performance and efficiency are fundamentally constrained by their collaboration strategies. Prevailing approaches rely on…
Since the next-generation satellite network consisting of various service function domains, such as communication, observation, navigation, etc., is moving towards large-scale, using single-domain resources is difficult to provide satisfied…
In this paper, we consider a network of agents that has to self-assign a set of tasks while respecting resource constraints. One possible formulation is the Generalized Assignment Problem, where the goal is to find a maximum payoff while…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
In the new space economy, space agencies, large enterprises, and start-ups aim to launch space multi-robot systems (MRS) for various in-situ resource utilization (ISRU) purposes, such as mapping, soil evaluation, and utility provisioning.…
Multi-robot systems are uniquely well-suited to performing complex tasks such as patrolling and tracking, information gathering, and pick-up and delivery problems, offering significantly higher performance than single-robot systems. A…
We present the Pluggable Distributed Resource Allocator (PDRA), a middleware for distributed computing in heterogeneous mobile robotic networks. PDRA enables autonomous robotic agents to share computational resources for computationally…
Humanoid robots must master numerous tasks with sparse rewards, posing a challenge for reinforcement learning (RL). We propose a method combining RL and automated planning to address this. Our approach uses short goal-conditioned policies…
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…
Attracted by team scale and function diversity, a heterogeneous multi-robot system (HMRS), where multiple robots with different functions and numbers are coordinated to perform tasks, has been widely used for complex and large-scale…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
The multi-Agent Pickup and Delivery (MAPD) problem is crucial in the realm of Intelligent Storage Systems (ISSs), where multiple robots are assigned with time-varying, heterogeneous, and potentially uncertain tasks. When it comes to…
A Multi Robot System (MRS) is the infrastructure of an intelligent cyberphysical system, where the robots understand the need of the human, and hence cooperate together to fulfill this need. Modeling an MRS is a crucial aspect of designing…
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…
The growing global demand for critical raw materials (CRMs) has highlighted the need to access difficult and hazardous environments such as abandoned underground mines. These sites pose significant challenges for conventional machinery and…
In this paper, we consider an mmWave-based trainground communication system in the high-speed railway (HSR) scenario, where the computation tasks of users can be partially offloaded to the rail-side base station (BS) or the mobile relays…
Multi-robot task allocation usually assumes some combination of communication, known task models, or a coordinator. We study the opposite extreme, a regime common in practice but overlooked in theory, which we name Zero-Knowledge MRTA…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
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…