Related papers: Communication-aware planning for robot teams deplo…
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…
When a robot is asked to verbalize its plan it can do it in many ways. For example, a seemingly natural strategy is incremental, where the robot verbalizes its planned actions in plan order. However, an important aspect of this type of…
We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
This paper addresses the problem of planning for a robot with a directional obstacle-detection sensor that must move through a cluttered environment. The planning objective is to remain safe by finding a path for the complete robot,…
This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits to a remote station, while navigating to a prespecified…
Human-robot interaction can be divided into two categories based on the physical distance between the human and robot: remote and proximal. In proximal interaction, the human and robot often engage in close coordination; in remote…
In human-robot teams where agents collaborate together, there needs to be a clear allocation of tasks to agents. Task allocation can aid in achieving the presumed benefits of human-robot teams, such as improved team performance. Many task…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…