Related papers: Relay-Based Coordination for Energy-Efficient Mult…

The capacitated vehicle routing problem (CVRP) involves distributing (identical) items from a depot to a set of demand locations, using a single capacitated vehicle. We study a generalization of this problem to the setting of multiple…

Swarms of aerial drones have recently been considered for last-mile deliveries in urban logistics or automated construction. At the same time, collaborative transportation of payloads by multiple drones is another important area of recent…

Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are…

We consider a multi-robot setting, where we have a fleet of multi-capacity autonomous robots that must service spatially distributed pickup-and-delivery requests with fixed maximum wait times. Requests can be either scheduled ahead of time…

To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…

We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…

Unmanned aerial vehicles, or drones, have the potential to significantly reduce the cost and time of making last-mile deliveries and responding to emergencies. Despite this potential, little work has gone into developing vehicle routing…

Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…

Coordinating the motions of multiple autonomous vehicles (AVs) requires planning frameworks that ensure safety while making efficient use of space and time. This paper presents a new approach, termed variable-time-step spatio-temporal…

With growing interest in sustainable logistics, electric vehicle (EV)-based deliveries offer a promising alternative for urban distribution. However, EVs face challenges due to their limited battery capacity, requiring careful planning for…

We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…

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…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

Transferring multiple objects between bins is a common task for many applications. In robotics, a standard approach is to pick up one object and transfer it at a time. However, grasping and picking up multiple objects and transferring them…

In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…

Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance.…

We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…

Hierarchical multi-robot exploration commonly decouples frontier allocation from local navigation, which can make the system brittle in dense and dynamic environments. Because the allocator lacks direct awareness of execution difficulty,…

Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…

We consider a multi-source relaying system where independent sources randomly generate status update packets which are sent to the destination with the aid of a relay through unreliable links. We develop transmission scheduling policies to…