Related papers: Energy-Aware Task Allocation for Teams of Multi-mo…
Multi-Robot Task Allocation (MRTA) is a problem that arises in many application domains including package delivery, warehouse robotics, and healthcare. In this work, we consider the problem of MRTA for a dynamic stream of tasks with task…
Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…
We consider the problem of dynamically allocating tasks to multiple agents under time window constraints and task completion uncertainty. Our objective is to minimize the number of unsuccessful tasks at the end of the operation horizon. We…
It is crucial to efficiently execute instructions such as "Find an apple and a banana" or "Get ready for a field trip," which require searching for multiple objects or understanding context-dependent commands. This study addresses the…
This paper proposes a novel highly scalable non-myopic planning algorithm for multi-robot Active Information Acquisition (AIA) tasks. AIA scenarios include target localization and tracking, active SLAM, surveillance, environmental…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
By incorporating ergonomics principles into the task allocation processes, human-robot collaboration (HRC) frameworks can favour the prevention of work-related musculoskeletal disorders (WMSDs). In this context, existing offline…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
Multi-robot patrolling is the potential application for robotic systems to survey wide areas efficiently without human burdens and mistakes. However, such systems have few examples of real-world applications due to their lack of human…
This research proposes new tools for investigation of behavioral diversity in multi-robot systems and a significant body of results using these tools in simulated and real mobile robot experiments. The experiments specifically describe a…
In this paper, we present a comprehensive analysis and discussion of energy consumption in agricultural robots. Robots are emerging as a promising solution to address food production and agroecological challenges, offering potential…
We consider the problem of completing a set of $n$ tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproductive if there are finitely many tasks to be done. Rather,…
One aspect of the ever-growing need for long term autonomy of multi-robot systems, is ensuring energy sufficiency. In particular, in scenarios where charging facilities are limited, battery-powered robots need to coordinate to share access.…
In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert…
Multi-robot systems are uniquely well-suited to performing complex tasks such as patrolling and tracking, information gathering, and pick-up and delivery problems, offering significantly higher performance than single-robot systems. A…
This paper introduces a modified self-organized task allocation algorithm, where robots are assigned to pick up one of the two types of object. This paper also demonstrates both algorithms by showing the simulation results of the…
In modern networking research, infrastructure-assisted unmanned autonomous vehicles (UAVs) are actively considered for real-time learning-based surveillance and aerial data-delivery under unexpected 3D free mobility and coordination. In…
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation…
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…
Multi-robot task allocation (MRTA) problems involve optimizing the allocation of robots to tasks. MRTA problems are known to be challenging when tasks require multiple robots and the team is composed of heterogeneous robots. These…