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We introduce the Block Rearrangement Problem (BRaP), a challenging component of large warehouse management which involves rearranging storage blocks within dense grids to achieve a goal state. We formally define the BRaP as a graph search…
This paper presents a collection of path planning algorithms for real-time movement of multiple robots across a Robotic Mobile Fulfillment System (RMFS). Robots are assigned to move storage units to pickers at working stations instead of…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
The Bulk-Synchronous Parallel model of computation has been used for the architecture independent design and analysis of parallel algorithms whose performance is expressed not only in terms of problem size n but also in terms of parallel…
This paper studies an extension of the rural postman problem with multiple depots and rechargeable and reusable vehicles capable of multiple trips with capacity constraints. This paper presents a new Mixed Integer Linear Programming (MILP)…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Efficient scheduling of parallel computation resources across multiple jobs is a fundamental problem in modern cloud/edge computing systems for many AI-based applications. Allocating more resources to a job accelerates its completion, but…
We consider the problem of coordinating a fleet of robots in a warehouse so as to maximize the reward achieved within a time limit while respecting problem and robot specific constraints. We formulate the problem as a weighted set packing…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
The unrestricted block relocation problem is an important optimization problem encountered at terminals, where containers are stored in stacks. It consists in determining the minimum number of container moves so as to empty the considered…
Robot motion planning has made vast advances over the past decades, but the challenge remains: robot mobile manipulators struggle to plan long-range whole-body motion in common household environments in real time, because of…
In this paper, we present an advanced approach to solving the inverse rig problem in blendshape animation, using high-quality corrective blendshapes. Our algorithm introduces novel enhancements in three key areas: ensuring high data…
Different retail and e-commerce companies are facing the challenge of assembling large numbers of time-critical picking orders that include both small-line and multi-line orders. To reduce unproductive picker working time as in traditional…
Companies are eager to have a smart supply chain especially when they have a dynamic system. Industry 4.0 is a concept which concentrates on mobility and real-time integration. Thus, it can be considered as a necessary component that has to…
Recent studies in maritime logistics have introduced a general ship routing problem and a benchmark suite based on real shipping segments, considering pickups and deliveries, cargo selection, ship-dependent starting locations, travel times…
Robotic manipulator applications often require efficient online motion planning. When completing multiple tasks, sequence order and choice of goal configuration can have a drastic impact on planning performance. This is well known as the…
Maintenance optimization has been extensively studied in the past decades. However, most of the existing maintenance models focus on single-component systems and are not applicable for complex systems consisting of multiple components, due…
In this paper we address the problem of performing statistical inference for large scale data sets i.e., Big Data. The volume and dimensionality of the data may be so high that it cannot be processed or stored in a single computing node. We…
This paper presents a novel fleet management strategy for battery-powered robot fleets tasked with intra-factory logistics in an autonomous manufacturing facility. In this environment, repetitive material handling operations are subject to…
In this paper, a new variant of Round Robin (RR) algorithm is proposed which is suitable for soft real time systems. RR algorithm performs optimally in timeshared systems, but it is not suitable for soft real time systems. Because it gives…