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Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they have shown a lack of knowledge and effectiveness in planning…
We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…
Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…
This paper investigates a specific instance of the static repositioning problem within station-based bike-sharing systems. Our study incorporates operational and damaged bikes, a heterogeneous fleet, and multiple visits between stations and…
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this paper, we focus on the multi-robot coverage path planning…
One of the main operational challenges faced by the operators of one-way car-sharing systems is to ensure vehicle availability across the regions of the service areas with uneven patterns of rental requests. Fleet balancing strategies are…
Two variants of multi-robot search for a stationary object in a priori known environment represented by a graph are studied in the paper. The first one is a generalization of the Traveling Deliveryman Problem where more than one deliveryman…
This paper presents a model for a vehicle routing problem in which customer demands are stochastic and vehicles are divided into compartments. The problem is motivated by the needs of certain agricultural cooperatives that produce various…
We consider a variant of the berth allocation problem-i.e., the multi-port berth allocation problem-aimed at assigning berthing times and positions to vessels in container terminals. This variant involves optimizing vessel travel speeds…
In a carsharing system, a fleet of cars is distributed at stations in an urban area, customers can take and return cars at any time and station. For operating such a system in a satisfactory way, the stations have to keep a good ratio…
In this paper we investigate the problem of simultaneously allocating orders and mobile storage racks to static pickers. Here storage racks are allocated to pickers to enable them to pick all of the products for the orders that have been…
The Container Relocation Problem (CRP) is concerned with finding a sequence of moves of containers that minimizes the number of relocations needed to retrieve all containers, while respecting a given order of retrieval. However, the…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
Load balancing is vital for the efficient and long-term operation of cloud data centers. With virtualization, post (reactive) migration of virtual machines after allocation is the traditional way for load balancing and consolidation.…
In this paper, we propose a novel, computational efficient, dynamic ridesharing algorithm. The beneficial computational properties of the algorithm arise from casting the ridesharing problem as a linear assignment problem between fleet…
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…
In the contemporary logistics industry, automation plays a pivotal role in enhancing production efficiency and expanding industrial scale. Autonomous mobile robots, in particular, have become integral to the modernization efforts in…
Multi-Robot Task Allocation (MRTA) is a problem that arises in many application domains including package delivery, warehouse robotics, and healthcare. In this work, we consider the problem of MRTA for a dynamic stream of tasks with task…
Multi-robot systems have emerged as a key technology for addressing the efficiency and cost challenges in labor-intensive industries. In the representative scenario of smart farming, planning efficient harvesting schedules for a fleet of…
Motivated by modern parallel computing applications, we consider the problem of scheduling parallel-task jobs with heterogeneous resource requirements in a cluster of machines. Each job consists of a set of tasks that can be processed in…