Related papers: Task Allocation for Multi-agent Systems via Unequa…
The problem of assigning agents to tasks is a central computational challenge in many multi-agent autonomous systems. However, in the real world, agents are not always perfect and may fail due to a number of reasons. A motivating…
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…
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
In this paper, we consider a network of agents that has to self-assign a set of tasks while respecting resource constraints. One possible formulation is the Generalized Assignment Problem, where the goal is to find a maximum payoff while…
We formalize and study the multi-goal task assignment and path finding (MG-TAPF) problem from theoretical and algorithmic perspectives. The MG-TAPF problem is to compute an assignment of tasks to agents, where each task consists of a…
In this work we consider a generalization of the well-known multivehicle routing problem: given a network, a set of agents occupying a subset of its nodes, and a set of tasks, we seek a minimum cost sequence of movements subject to the…
We introduce an extension of the Optimal Transport problem when multiple costs are involved. Considering each cost as an agent, we aim to share equally between agents the work of transporting one distribution to another. To do so, we…
Many safety-critical real-world problems, such as autonomous driving and collaborative robots, are of a distributed multi-agent nature. To optimize the performance of these systems while ensuring safety, we can cast them as distributed…
Robot allocation plays an essential role in facilitating robotic service provision across various domains. Yet the increasing number of users and the uncertainties regarding the users' true service requirements have posed challenges for the…
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…
This paper addresses the task allocation problem for multi-robot systems. The main issue with the task allocation problem is inherent complexity that makes finding an optimal solution within a reasonable time almost impossible. To hand the…
Autonomous exploration is an application of growing importance in robotics. A promising strategy is ergodic trajectory planning, whereby an agent spends in each area a fraction of time which is proportional to its probability information…
Resource allocation and task prioritisation are key problem domains in the fields of autonomous vehicles, networking, and cloud computing. The challenge in developing efficient and robust algorithms comes from the dynamic nature of these…
This paper considers the problem of assigning multiple mobile robots to goals on transport networks with uncertain information about travel times. Our aim is to produce optimal assignments, such that the average waiting time at destinations…
We study the problem of online Multi-Agent Pickup and Delivery (MAPD), where a team of agents must repeatedly serve dynamically appearing tasks on a shared map. Existing online methods either rely on simple heuristics, which result in poor…
We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with densely populated obstacles and narrow passages. In such…
We propose a decentralized auction-based algorithm for the solution of dynamic task allocation problems for spatially distributed multi-agent systems. In our approach, each member of the multi-agent team is assigned to at most one task from…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…