Related papers: meSch: Multi-Agent Energy-Aware Scheduling for Tas…
Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…
This paper considers energy-aware route planning for a battery-constrained robot operating in environments with multiple recharging depots. The robot has a battery discharge time $D$, and it should visit the recharging depots at most every…
We present Sadcher, a real-time task assignment framework for heterogeneous multi-robot teams that incorporates dynamic coalition formation and task precedence constraints. Sadcher is trained through Imitation Learning and combines graph…
Autonomous mobile robot fleets must coordinate task allocation and charging under limited shared resources, yet most battery aware planning methods address only a single robot. This paper extends degradation cost aware task planning to a…
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…
This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…
In this paper, we investigate the charging scheduling optimization problem for large electric truck fleets operating with dedicated charging infrastructure. A central coordinator jointly determines the charging sequence and power allocation…
This paper presents a general framework to tackle a diverse range of NP-hard charger scheduling problems, optimizing the trajectory of mobile chargers to prolong the life of Wireless Rechargeable Sensor Network (WRSN), a system consisting…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
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…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…
This paper describes Resh, a new, statically typed, interpreted programming language and associated runtime for orchestrating multirobot systems. The main features of Resh are: (1) It offloads much of the tedious work of programming such…
Achieving long term autonomy of robots operating in dynamic environments such as farms remains a significant challenge. Arguably, the most demanding factors to achieve this are the on-board resource constraints such as energy, planning in…
This paper proposes a control-oriented optimization platform for autonomous mobile robots (AMRs), focusing on extending battery life while ensuring task completion. The requirement of fast AMR task planning while maintaining minimum battery…
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a…
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…
Battery-less Internet of Things (IoT) devices rely on ambient energy harvesting and therefore require scheduling policies that jointly account for energy intermittency and hard timing constraints. This challenge is especially acute in…