Related papers: Heterogeneous Multi-Robot Graph Coverage with Prox…
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
We study the problem of robot navigation in dense and interactive crowds with static constraints such as corridors and furniture. Previous methods fail to consider all types of spatial and temporal interactions among agents and obstacles,…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…
We study graph-based Multi-Robot Coverage Path Planning (MCPP) that aims to compute coverage paths for multiple robots to cover all vertices of a given 2D grid terrain graph $G$. Existing graph-based MCPP algorithms first compute a tree…
The widely studied edge modification problems ask how to minimally alter a graph to satisfy certain structural properties. In this paper, we introduce and study a new edge modification problem centered around transforming a given graph into…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
In this paper, we consider the problem of planning a path for a robot to monitor a known set of features of interest in an environment. We represent the environment as a graph with vertex weights and edge lengths. The vertices represent…
In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by covering the environment along the least number of coverage lines,…
We perform structural and algorithmic studies of significantly generalized versions of the optimal perimeter guarding (OPG) problem. As compared with the original OPG where robots are uniform, in this paper, many mobile robots with…
This paper introduces the \emph{$d$-distance matching problem}, in which we are given a bipartite graph $G=(S,T;E)$ with $S=\{s_1,\dots,s_n\}$, a weight function on the edges and an integer $d\in\mathbb Z_+$. The goal is to find a maximum…
Imagine we want to split a group of agents into teams in the most \emph{efficient} way, considering that each agent has their own preferences about their teammates. This scenario is modeled by the extensively studied \textsc{Coalition…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
Mobile robots hold great promise in reducing the need for humans to perform jobs such as vacuuming, seeding,harvesting, painting, search and rescue, and inspection. In practice, these tasks must often be done without an exact map of the…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
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…
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…