Related papers: Heterogeneous Multi-Robot Graph Coverage with Prox…
We consider the multiple traveling salesman problem on a weighted tree. In this problem there are $m$ salesmen located at the root initially. Each of them will visit a subset of vertices and return to the root. The goal is to assign a tour…
We investigate the problem of using mobile robots equipped with 2D range sensors to optimally guard perimeters or regions, i.e., 1D or 2D sets. Given such a set of arbitrary shape to be guarded, and $k$ mobile sensors where the $i$-th…
Timely delivery and optimal routing remain fundamental challenges in the modern logistics industry. Building on prior work that considers single-package delivery across networks using multiple types of collaborative agents with restricted…
In this paper, we introduce the problem of Matroid-Constrained Vertex Cover: given a graph with weights on the edges and a matroid imposed on the vertices, our problem is to choose a subset of vertices that is independent in the matroid,…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
In this paper we study a scheduling problem arising from executing numerical simulations on HPC architectures. With a constant number of parallel machines, the objective is to minimize the makespan under memory constraints for the machines.…
A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each…
For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC* for multi-robot coverage path planning (mCPP) based on spiral spanning tree coverage…
Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, coverage path planning benefits greatly from multiple robots. In this paper,…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
The line coverage problem involves finding efficient routes for the coverage of linear features by one or more resource-constrained robots. Linear features model environments like road networks, power lines, and oil and gas pipelines. Two…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
We consider the machine covering problem for selfish related machines. For a constant number of machines, m, we show a monotone polynomial time approximation scheme (PTAS) with running time that is linear in the number of jobs. It uses a…
We study the problem of planning the deployments of a group of mobile robots. While the problem and formulation can be used for many different problems, here we use a bridge inspection as the motivating application for the purpose of…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
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,…