Related papers: Efficient Human-Aware Task Allocation for Multi-Ro…
Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of…
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Executing time-sensitive multi-robot missions involves two distinct problems: Multi-Robot Task Assignment (MRTA) and Multi-Agent Path Finding (MAPF). Computing safe paths that complete every task and minimize the time to mission completion,…
In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
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 this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
The increasing labor costs in agriculture have accelerated the adoption of multi-robot systems for orchard harvesting. However, efficiently coordinating these systems is challenging due to the complex interplay between makespan and energy…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…
In ad-hoc human-robot collaboration (HRC), humans and robots work on a task without pre-planning the robot's actions prior to execution; instead, task allocation occurs in real-time. However, prior research has largely focused on task…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Human-robot teams have the ability to perform better across various tasks than human-only and robot-only teams. However, such improvements cannot be realized without proper task allocation. Trust is an important factor in teaming…
Modular construction, involving off-site prefabrication and on-site assembly, offers significant advantages but presents complex coordination challenges for robotic automation. Effective task allocation is critical for leveraging…
Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as…
One simplifying assumption made in distributed robot systems is that the robots are single-tasking: each robot operates on a single task at any time. While such a sanguine assumption is innocent to make in situations with sufficient…