Related papers: Assignment-Routing Optimization with Cutting-Plane…
This paper addresses the challenge of planning a sequence of tasks to be performed by multiple robots while minimizing the overall completion time subject to timing and precedence constraints. Our approach uses the Timed Partial Orders…
In this paper, we describe the usage of the Quantum Approximate Optimization Algorithm (QAOA), which is a quantum-classical heuristic, to solve a combinatorial optimization and integer programming task known as Vehicle Routing Problem…
We study the routing problem for vehicles with limited energy through a network of inhomogeneous charging nodes. This is substantially more complicated than the homogeneous node case studied in [1]. We seek to minimize the total elapsed…
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 introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…
Unmanned ground vehicles (UGVs) are being used extensively in civilian and military applications for applications such as underground mining, nuclear plant operations, planetary exploration, intelligence, surveillance and reconnaissance…
School bus planning is usually divided into routing and scheduling due to the complexity of solving them concurrently. However, the separation between these two steps may lead to worse solutions with higher overall costs than that from…
Within this paper, the problem of 3D structural inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties of the…
This paper presents a novel learning-based trajectory planning framework for quadrotors that combines model-based optimization techniques with deep learning. Specifically, we formulate the trajectory optimization problem as a quadratic…
This paper presents a new method for integrated time-optimal routing and trajectory optimization of multirotor unmanned aerial vehicles (UAVs). Our approach extends the well-known Traveling Salesman Problem by accounting for the limited…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
This paper considers an unmanned vehicle-robot pickup and delivery system, in which a self-driving vehicle carrying multiple unmanned robots in the form of the mother ship travels from a depot to a number of stations distributed in a…
Multi-Agent Path Finding (MAPF) remains a fundamental challenge in robotics, where classical centralized approaches exhibit exponential growth in joint-state complexity as the number of agents increases. This paper investigates Quadratic…
This paper explores the Navigation Among Movable Obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a…
In this paper, we propose a hybrid framework to solve large-scale permutation-based combinatorial problems effectively using a high-performance quadratic unconstrained binary optimization (QUBO) solver. To do so, transformations are…
This paper deals with generating of an optimized route for multiple Vehicle routing Problems (mVRP). We used a methodology of clustering the given cities depending upon the number of vehicles and each cluster is allotted to a vehicle. k-…
We introduce and study the problem in which a mobile sensing robot (our tourist) is tasked to travel among and gather intelligence at a set of spatially distributed point-of-interests (POIs). The quality of the information collected at each…
Global routing has been a historically challenging problem in electronic circuit design, where the challenge is to connect a large and arbitrary number of circuit components with wires without violating the design rules for the printed…
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot traveled) distance, the total arrival time, and the total…