Related papers: meSch: Multi-Agent Energy-Aware Scheduling for Tas…

In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…

We propose a framework for resilience in a networked heterogeneous multi-robot team subject to resource failures. Each robot in the team is equipped with resources that it shares with its neighbors. Additionally, each robot in the team…

In this paper, a novel Energy Management System (EMS) algorithm to achieve optimal Electric Vehicle (EV) charging scheduling at the parking lots of electric railway stations is proposed. The proposed approach uncovers the potential of…

This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…

We present a number of novel algorithms, based on mathematical optimization formulations, in order to solve a homogeneous multiprocessor scheduling problem, while minimizing the total energy consumption. In particular, for a system with a…

Multi-robot collaboration in large-scale environments with limited-sized teams and without external infrastructure is challenging, since the software framework required to support complex tasks must be robust to unreliable and intermittent…

Network management tools are usually inherited from one generation to another. This was successful since these tools have been kept in check and updated regularly to fit new networking goals and service requirements. Unfortunately, new…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

Electric trucks usually need to charge their batteries during long-range delivery missions, and the charging times are often nontrivial. As charging resources are limited, waiting times for some trucks can be prolonged at certain stations.…

Mobile energy storage systems (MESSs) provide mobility and flexibility to enhance distribution system resilience. The paper proposes a Markov decision process (MDP) formulation for an integrated service restoration strategy that coordinates…

This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…

Mobile-edge computing (MEC) has emerged as a prominent technique to provide mobile services with high computation requirement, by migrating the computation-intensive tasks from the mobile devices to the nearby MEC servers. To reduce the…

We introduce and study the Joint Task Assistance Planning problem which generalizes prior work on optimizing assistance in robotic collaboration. In this setting, two robots operate over predefined roadmaps, each represented as a graph…

Autonomous robots used in infrastructure inspection, space exploration and other critical missions operate in highly dynamic environments. As such, they must continually verify their ability to complete the tasks associated with these…

In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…

Autonomous agents are increasingly used to improve prompts, code, and machine learning systems through iterative execution and feedback. Yet existing approaches are usually designed as task-specific optimization loops rather than as a…

Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…

In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…

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…

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…