Related papers: Multi-Robot Task Allocation for Homogeneous Tasks …
When faced with learning a set of inter-related tasks from a limited amount of usable data, learning each task independently may lead to poor generalization performance. Multi-Task Learning (MTL) exploits the latent relations between tasks…
In this work, we address a task allocation problem for human multi-robot settings. Given a set of tasks to perform, we formulate a general Mixed-Integer Linear Programming (MILP) problem aiming at minimizing the overall execution time while…
Any strategy used to distribute a robot ensemble over a set of sequential tasks is subject to inaccuracy due to robot-level uncertainties and environmental influences on the robots' behavior. We approach the problem of inaccuracy during…
Task allocation can enable effective coordination of multi-robot teams to accomplish tasks that are intractable for individual robots. However, existing approaches to task allocation often assume that task requirements or reward functions…
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…
Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
This paper presents a non-iterative approach for finding the assignment of heterogeneous robots to efficiently execute online Pickup and Just-In-Time Delivery (PJITD) tasks with optimal resource utilization. The PJITD assignments problem is…
Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…
Collaborative robotics cells leverage heterogeneous agents to provide agile production solutions. Effective coordination is essential to prevent inefficiencies and risks for human operators working alongside robots. This paper proposes a…
This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
This paper presents a consensus-based payload algorithm (CBPA) to deal with the condition of robots' capability decrease for multi-robot task allocation. During the execution of complex tasks, robots' capabilities could decrease with the…
Distributing spatially located heterogeneous workloads is an important problem in parallel scientific computing. We investigate the problem of partitioning such workloads (represented as a matrix of non-negative integers) into rectangles,…
This paper presents a new multitask learning framework that learns a shared representation among the tasks, incorporating both task and feature clusters. The jointly-induced clusters yield a shared latent subspace where task relationships…
Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construction, surgery, and more. Traditional coupled methods plan…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
This paper takes the first step towards a reactive, hierarchical multi-robot task allocation and planning framework given a global Linear Temporal Logic specification. The capabilities of both quadrupedal and wheeled robots are leveraged…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…