Related papers: CREST: Constraint-Release Execution for Multi-Robo…
Multi-Agent Path Finding (MAPF) is the problem of finding collision-free paths for multiple agents from their start locations to end locations. We consider an extension to this problem, Precedence Constrained Multi-Agent Path Finding…
Cloud computing is a reliable solution to provide distributed computation power. However, real-time response is still challenging regarding the enormous amount of data generated by the IoT devices in 5G and 6G networks. Thus, multi-access…
Deep Neural Networks (DNNs) have achieved tremendous success for cognitive applications. The core operation in a DNN is the dot product between quantized inputs and weights. Prior works exploit the weight/input repetition that arises due to…
With the freight delivery demands and shipping costs increasing rapidly, intelligent control of fleets to enable efficient and cost-conscious solutions becomes an important problem. In this paper, we propose DeepFreight, a model-free…
Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robots to master. In this study, we conduct the first…
Internet companies are facing the need for handling large-scale machine learning applications on a daily basis and distributed implementation of machine learning algorithms which can handle extra-large scale tasks with great performance is…
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.…
Many multi-robot applications require tasks to be completed efficiently and in the correct order, so that downstream operations can proceed at the right time. Multi-agent path finding with precedence constraints (MAPF-PC) is a well-studied…
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
In this research we use a decentralized computing approach to allocate and schedule tasks on a massively distributed grid. Using emergent properties of multi-agent systems, the algorithm dynamically creates and dissociates clusters to serve…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…
Many scientific workflows can be modeled as a Directed Acyclic Graph (henceforth mentioned as DAG) where the nodes represent individual tasks, and the directed edges represent data and control flow dependency between two tasks. Due to the…
Multi Agent Path Finding (MAPF) is critical for coordinating multiple robots in shared environments, yet robust execution of generated plans remains challenging due to operational uncertainties. The Action Dependency Graph (ADG) framework…
For rearranging objects on tabletops with overhand grasps, temporarily relocating objects to some buffer space may be necessary. This raises the natural question of how many simultaneous storage spaces, or "running buffers", are required so…
This paper addresses the cooperative Multi-Vehicle Dynamic Pickup and Delivery Problem with Stochastic Requests (MVDPDPSR) and proposes an end-to-end centralized decision-making framework based on sequence-to-sequence, named Multi-Agent…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
Advancing Multi-Agent Pathfinding (MAPF) and Multi-Robot Motion Planning (MRMP) requires platforms that enable transparent, reproducible comparisons across modeling choices. Existing tools either scale under simplifying assumptions (grids,…
We consider the problem of delivering multiple packages from a single depot to distinct goal locations using a homogeneous fleet of robots with limited carrying capacity. We propose VCST-RCP, a Voronoi-Constrained Steiner Tree Relay…
There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and motion planning (TAMP) methods, while effective in this…
Large robot fleets are now common in warehouses and other logistics settings, where small control gains translate into large operational impacts. In this article, we address task scheduling for lifelong Multi-Agent Pickup-and-Delivery…