Related papers: CREST: Constraint-Release Execution for Multi-Robo…
We introduce a new problem formulation, Double-Deck Multi-Agent Pickup and Delivery (DD-MAPD), which models the multi-robot shelf rearrangement problem in automated warehouses. DD-MAPD extends both Multi-Agent Pickup and Delivery (MAPD) and…
Multi-agent path finding (MAPF) is an abstract model for the navigation of multiple robots in warehouse automation, where multiple robots plan collision-free paths from the start to goal positions. Reinforcement learning (RL) has been…
In automated warehouses, teams of mobile robots fulfill the packaging process by transferring inventory pods to designated workstations while navigating narrow aisles formed by tightly packed pods. This problem is typically modeled as a…
With the rapid progress in Multi-Agent Path Finding (MAPF), researchers have studied how MAPF algorithms can be deployed to coordinate hundreds of robots in large automated warehouses. While most works try to improve the throughput of such…
The Multi-Agent Path Finding (MAPF) problem aims to find collision-free paths for multiple agents while optimizing objectives such as the sum of costs or makespan. MAPF has wide applications in domains like automated warehouses,…
In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…
This paper proposes a task planning framework for collaborative Human-Robot scenarios, specifically focused on assembling complex systems such as furniture. The human is characterized as an uncontrollable agent, implying for example that…
Multi-Agent Path Finding (MAPF) is a problem of finding a sequence of movements for agents to reach their assigned location without collision. Centralized algorithms usually give optimal solutions, but have difficulties to scale without…
Researchers all over the world are employing a variety of analysis approaches in attempt to provide a safer and faster solution for sharing resources via a Multi-access Edge Computing system. Multi-access Edge Computing (MEC) is a…
During the execution of Multi-Agent Path Finding (MAPF) plans in real-life applications, the MAPF assumption that the fleet's movement is perfectly synchronized does not apply. Since one or more of the agents may become delayed due to…
Multi-agent pathfinding (MAPF) is concerned with planning collision-free paths for a team of agents from their start to goal locations in an environment cluttered with obstacles. Typical approaches for MAPF consider the locations of…
Multi-Agent Path Finding (MAPF) is a fundamental coordination problem in large-scale robotic and cyber-physical systems, where multiple agents must compute conflict-free trajectories with limited computational and communication resources.…
Multi-Agent Path Finding (MAPF), which focuses on finding collision-free paths for multiple robots, is crucial in autonomous warehouse operations. Lifelong MAPF (L-MAPF), where agents are continuously reassigned new targets upon completing…
The Mixed-Shelves Picker Routing Problem (MSPRP) is a fundamental challenge in warehouse logistics, where pickers must navigate a mixed-shelves environment to retrieve SKUs efficiently. Traditional heuristics and optimization-based…
With the surge in cloud storage adoption, enterprises face challenges managing data duplication and exponential data growth. Deduplication mitigates redundancy, yet maintaining redundancy ensures high availability, incurring storage costs.…
Multi-Agent Path Finding (MAPF) is the problem of moving a team of agents to their goal locations without collisions. In this paper, we study the lifelong variant of MAPF, where agents are constantly engaged with new goal locations, such as…
In order to efficiently use the future generations of supercomputers, fault tolerance and power consumption are two of the prime challenges anticipated by the High Performance Computing (HPC) community. Checkpoint/Restart (CR) has been and…
Grid-based storage systems with uniformly shaped loads (e.g., containers, pallets, totes) are commonplace in logistics, industrial, and transportation domains. A key performance metric for such systems is the maximization of space…
This article presents a novel multi-agent spatial transformer (MAST) for learning communication policies in large-scale decentralized and collaborative multi-robot systems (DC-MRS). Challenges in collaboration in DC-MRS arise from: (i)…
We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…