Related papers: Hierarchically Decentralized Heterogeneous Multi-R…
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or whole-body controllers solve instantaneous optimization…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
In this article we propose a game-theoretic approach to the multi-robot task allocation problem using the framework of global games. Each task is associated with a global signal, a real-valued number that captures the task execution…
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…
Task allocation using a team or coalition of robots is one of the most important problems in robotics, computer science, operational research, and artificial intelligence. In recent work, research has focused on handling complex objectives…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where…
To realize effective heterogeneous multi-robot teams, researchers must leverage individual robots' relative strengths and coordinate their individual behaviors. Specifically, heterogeneous multi-robot systems must answer three important…
In this research we use a decentralized computing approach to allocate and schedule tasks on a massively distributed grid. Using emergent properties of multi-agent systems, the algorithm dynamically creates and dissociates clusters to serve…
Four new algorithms (RFTA1, RFTA2, GFGF2A, and RFTA2GE) handling the event in wireless sensor and robot networks based on the Greedy-Face-Greedy (GFG) routing extended with auctions are proposed in this paper. In this paper we assume that…
Future wireless networks are expected to be highly heterogeneous with the co-existence of macrocells and small cells as well as provide support for device-to-device (D2D) communication. In such muti-tier heterogeneous systems centralized…
Efficient and reliable resource allocation within densely-deployed massive IoT networks remains a key challenge due to resource constraints among low-size, weight, and power (SWaP) IoT devices and within the network and limitations of…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
Efficient task scheduling in large-scale distributed systems presents significant challenges due to dynamic workloads, heterogeneous resources, and competing quality-of-service requirements. Traditional centralized approaches face…
This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…
Mobile edge computing (MEC) deployment in a multi-robot cooperation (MRC) system is an effective way to accomplish the tasks in terms of energy consumption and implementation latency. However, the computation and communication resources…
Driven by the unceasing development of maritime services, tasks of unmanned aerial vehicle (UAV)-assisted maritime data collection (MDC) are becoming increasingly diverse, complex and personalized. As a result, effective task allocation for…
This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through…
In this paper, we propose a distributed version of the Hungarian Method to solve the well known assignment problem. In the context of multi-robot applications, all robots cooperatively compute a common assignment that optimizes a given…