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Autonomous mobile robots (AMRs) have been a rapidly expanding research topic for the past decade. Unlike their counterpart, the automated guided vehicle (AGV), AMRs can make decisions and do not need any previously installed infrastructure…
In this paper, we propose a decentralized coordina- tion algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on a shared…
The collaboration and interaction of multiple robots have become integral aspects of smart manufacturing. Effective planning and management play a crucial role in achieving energy savings and minimising overall costs. This paper addresses…
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…
Coordinating production and material transfers is increasingly important in modern manufacturing systems equipped with mobile transfer robots, known as transbots. This study considers a flexible job shop environment in which heterogeneous…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
Digital agriculture is growing in popularity among professionals and brings together new opportunities along with pervasive use of modern data-driven technologies. Digital agriculture approaches can be used to replace all traditional…
This paper investigates the optimization problem of scheduling autonomous mobile robots (AMRs) in hospital settings, considering dynamic requests with different priorities. The primary objective is to minimize the daily service cost by…
In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…
In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…
Autonomous vehicles are rapidly evolving and will soon enable the application of large-scale mobility-on-demand (MoD) systems. Managing the fleets of available vehicles, commonly known as "rebalancing," is crucial to ensure that vehicles…
At modern warehouses, mobile robots transport packages and drop them into collection bins/chutes based on shipping destinations grouped by, e.g., the ZIP code. System throughput, measured as the number of packages sorted per unit of time,…
In this paper, we propose two novel decentralized optimization frameworks for multi-agent nonlinear optimal control problems in robotics. The aim of this work is to suggest architectures that inherit the computational efficiency and…
This paper studies the scheduling of autonomous mobile robots (AMRs) at hospitals where the stochastic travel times and service times of AMRs are affected by the surrounding environment. The routes of AMRs are planned to minimize the daily…
In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots to jointly select actions, e.g., which trajectory to follow,…
We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to…
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…
We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…
Autonomous mobile robots (AMRs) play a crucial role in transportation and service tasks at hospitals, contributing to enhanced efficiency and meeting medical demands. This paper investigates the optimization problem of scheduling strategies…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…