Related papers: FiReFly: Fair Distributed Receding Horizon Plannin…

Cooperative path planning is gaining its importance due to the increasing demand on using multiple unmanned aerial vehicles (UAVs) for complex missions. This work addresses the problem by introducing a new algorithm named MultiRRT that…

The foundation of successful human collaboration is deeply rooted in the principles of fairness. As robots are increasingly prevalent in various parts of society where they are working alongside groups and teams of humans, their ability to…

Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…

Goals for planning problems are typically conceived of as subsets of the state space. However, for many practical planning problems in robotics, we expect the robot to predict goals, e.g. from noisy sensors or by generalizing learned models…

We study a fundamental cooperative message-delivery problem on the plane. Assume $n$ robots which can move in any direction, are placed arbitrarily on the plane. Robots each have their own maximum speed and can communicate with each other…

We investigate the distributed planning of robot trajectories for optimal execution of cooperative tasks with time windows. In this setting, each task has a value and is completed if sufficiently many robots are simultaneously present at…

Multirotor unmanned aerial vehicle is a prevailing type of aerial robots with wide real-world applications. The energy efficiency of the robot is a critical aspect of its performance, determining the range and duration of the missions that…

We introduce a package service model where trucks as well as drones can deliver packages. Drones can travel on trucks or fly; but while flying, drones can only carry one package at a time and have to return to a truck to charge after each…

Pre-departure flight plan scheduling for Urban Air Mobility (UAM) and cargo delivery drones will require on-demand scheduling of large numbers of aircraft. We examine the scalability of an algorithm known as FastMDP which was shown to…

An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…

Several real-world optimization problems involve mixed-variable search spaces, where continuous, ordinal, and categorical decision variables coexist. However, most population-based metaheuristic algorithms are designed for either continuous…

Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…

The optimization of urban traffic is threatened by the complexity of achieving a balance between transport efficiency and the maintenance of privacy, as well as the equitable distribution of traffic based on socioeconomically diverse…

This work considers the deployment of unmanned aerial vehicles (UAVs) over a predefined area to serve a number of ground users. Due to the heterogeneous nature of the network,the UAVs may cause severe interference to the transmissions of…

We consider here the MultiBot problem for the scheduling and the resource parametrization of jobs related to the production or the transportation of different products inside a given time horizon. Those jobs must meet known in advance…

In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…

This letter investigates computing-accessibility-aware cooperative 3D deployment of multiple UAVs for task completion enhancement, termed CA3D. We first provide a theoretical analysis showing that computing accessibility is the key…

We propose a distributed control law for a heterogeneous multi-robot coverage problem, where the robots could have different energy characteristics, such as capacity and depletion rates, due to their varying sizes, speeds, capabilities, and…

Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…

We first consider the static problem of allocating resources to ( i.e. , scheduling) multiple distributed application framework s, possibly with different priorities and server preferences , in a private cloud with heterogeneous servers.…