Related papers: The Dynamic Team Orienteering Problem in Spatial C…
We study the multi-agent Smoothed Online Convex Optimization (SOCO) problem, where $N$ agents interact through a communication graph. In each round, each agent $i$ receives a strongly convex hitting cost function $f^i_t$ in an online…
In this paper, we study the well-known team orienteering problem where a fleet of robots collects rewards by visiting locations. Usually, the rewards are assumed to be known to the robots; however, in applications such as environmental…
Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planning in tight spaces. Unfortunately, it is often…
In this paper we tackle the Team Orienteering Problem with Service Times, Mandatory Nodes and Incompatibilities, introduced in~\cite{Guastalla2024} and arising from two real-world healthcare applications. We propose two heuristic algorithms…
We present a method for autonomous exploration of large-scale unknown environments under mission time constraints. We start by proposing the Frontloaded Information Gain Orienteering Problem (FIG-OP) -- a generalization of the traditional…
Estimating Origin-Destination (OD) travel demand is vital for effective urban planning and traffic management. Developing universally applicable OD estimation methodologies is significantly challenged by the pervasive scarcity of…
The field of Distributed Constraint Optimization has gained momentum in recent years thanks to its ability to address various applications related to multi-agent cooperation. While techniques to solve Distributed Constraint Optimization…
The computing in the network (COIN) paradigm is a promising solution that leverages unused network resources to perform tasks to meet computation-demanding applications, such as the metaverse. In this vein, we consider the partial…
We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synchronous, and on-demand. The recently proposed horizon-based…
Nowadays, logistics service providers (LSPs) increasingly consider using a crowdsourced workforce on the last mile to fulfill customers' expectations regarding same-day or on-demand delivery at reduced costs. The crowdsourced workforce's…
Dynamic routing occurs when customers are not known in advance, e.g. for real-time routing. Two heuristics are proposed that solve the balanced dynamic multiple travelling salesmen problem (BD-mTSP). These heuristics represent operational…
We propose an optimal solution to a deterministic dynamic assignment problem by leveraging connections to the theory of discrete optimal transport to convert the combinatorial assignment problem into a tractable linear program. We seek to…
A general-purpose planning agent requires an open-scope world model: one rich enough to tackle any of the wide range of tasks it may be asked to solve over its operational lifetime. This stands in contrast with typical planning approaches,…
Differentiable planning enables gradient-based optimization of decision-making problems by leveraging differentiable models of system dynamics. However, in highly nonlinear and hybrid discrete-continuous domains, the resulting optimization…
This paper studies spatiotemporal pricing and fleet management for autonomous mobility-on-demand (AMoD) systems while taking elastic demand into account. We consider a platform that offers ride-hailing services using a fleet of autonomous…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
The aim of this work is to present a meta-heuristically approach of the spatial assignment problem of human resources in multi-sites enterprise. Usually, this problem consists to move employees from one site to another based on one or more…
Local planning for a differential wheeled robot is designed to generate kinodynamic feasible actions that guide the robot to a goal position along the navigation path while avoiding obstacles. Reactive, predictive, and learning-based…
We consider the problem of using an autonomous agent to persistently monitor a collection of dynamic targets distributed in an environment. We generalize existing work by allowing the agent's dynamics to vary throughout the environment,…