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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 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…
Most real-world Multi-Robot Task Allocation (MRTA) problems require fast and efficient decision-making, which is often achieved using heuristics-aided methods such as genetic algorithms, auction-based methods, and bipartite graph matching…
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…
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…
The continuous innovation of smart robotic technologies is driving the development of smart orchards, significantly enhancing the potential for automated harvesting systems. While multi-robot systems offer promising solutions to address…
Arc-routing problems underpin numerous critical field operations, including power-line inspection, urban police patrolling, and traffic monitoring. In this domain, the Rural Postman Problem (RPP) is a fundamental variant in which a…
An emerging optimisation problem from the real-world applications, named the multi-point dynamic aggregation (MPDA) problem, has become one of the active research topics of the multi-robot system. This paper focuses on a multi-objective…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
The Hierarchical Directed Capacitated Arc Routing Problem (HDCARP) is an extension of the Capacitated Arc Routing Problem (CARP), where the arcs of a graph are divided into classes based on their priority. The traversal of these classes is…
The Electric Vehicle Routing Problem (EVRP) extends the capacitated vehicle routing problem by incorporating battery constraints and charging stations, posing significant optimization challenges. This paper introduces a Trilevel Memetic…
This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…
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…
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.…
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 work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
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…
Electric vehicles (EVs) have been adopted in urban areas to reduce environmental pollution and global warming as a result of the increasing number of freight vehicles. However, there are still deficiencies in routing the trajectories of…
We consider the problem of dynamically allocating tasks to multiple agents under time window constraints and task completion uncertainty. Our objective is to minimize the number of unsuccessful tasks at the end of the operation horizon. We…
Since the recent Covid-19 pandemic, mobile manipulators and humanoid assistive robots with higher levels of autonomy have increasingly been adopted for patient care and living assistance. Despite advancements in autonomy, these robots often…