Related papers: Very Large-scale Multi-Robot Task Allocation in Ch…
In this paper, a novel framework is presented that achieves a combined solution based on Multi-Robot Task Allocation (MRTA) and collision avoidance with respect to homogeneous measurement tasks taking place in industrial environments. The…
The task allocation problem in multi-robot systems (MRTA) is an NP-hard problem whose viable solutions are usually found by heuristic algorithms. Considering the increasing need of improvement on logistics, the use of robots for increasing…
Multi-Robot Task Allocation (MRTA) is the problem of distributing a set of tasks to a team of robots with the objective of optimising some criteria, such as minimising the amount of time or energy spent to complete all the tasks or…
In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
We present a framework for Multi-Robot Task Allocation (MRTA) in heterogeneous teams performing long-endurance missions in dynamic scenarios. Given the limited battery of robots, especially for aerial vehicles, we allow for robot recharges…
Multi-robot systems are increasingly deployed in applications, such as intralogistics or autonomous delivery, where multiple robots collaborate to complete tasks efficiently. One of the key factors enabling their efficient cooperation is…
We study the problem of selecting a fleet of robots to service spatially distributed tasks with diverse requirements within time-windows. The problem of allocating tasks to a fleet of potentially heterogeneous robots and finding an optimal…
We present a novel reinforcement learning (RL) based task allocation and decentralized navigation algorithm for mobile robots in warehouse environments. Our approach is designed for scenarios in which multiple robots are used to perform…
Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…
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…
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…
Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and…
Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
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…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
Efficient task allocation among multiple robots is crucial for optimizing productivity in modern warehouses, particularly in response to the increasing demands of online order fulfillment. This paper addresses the real-time multi-robot task…
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…
This paper deals with large-scale decentralised task allocation problems for multiple heterogeneous robots with monotone submodular objective functions. One of the significant challenges with the large-scale decentralised task allocation…