Related papers: CREST: Constraint-Release Execution for Multi-Robo…
Tasks for multi-robot systems often require the robots to collaborate and complete a team goal while maintaining safety. This problem is usually formalized as a constrained Markov decision process (CMDP), which targets minimizing a global…
Multi-Agent Path Finding (MAPF) is essential to large-scale robotic systems. Recent methods have applied reinforcement learning (RL) to learn decentralized polices in partially observable environments. A fundamental challenge of obtaining…
Deploying multi-robot systems in environments shared with dynamic and uncontrollable agents presents significant challenges, especially for large robot fleets. In such environments, individual robot operations can be delayed due to…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
This paper proposes a framework for improving the operational efficiency of automated storage systems under uncertainty. It considers a 2D grid-based storage for uniform-sized loads (e.g., containers, pallets, or totes), which are moved by…
What appears effortless to a human waiter remains a major challenge for robots. Manipulating objects nonprehensilely on a tray is inherently difficult, and the complexity is amplified in dual-arm settings. Such tasks are highly relevant to…
Managing delivery deadlines in automated warehouses and factories is crucial for maintaining customer satisfaction and ensuring seamless production. This study introduces the problem of online multi-agent pickup and delivery with task…
Artificial intelligence and distributed algorithms have been widely used in mechanical fault diagnosis with the explosive growth of diagnostic data. A novel intelligent fault diagnosis system framework that allows intelligent terminals to…
The Dynamic Flexible Job Shop Scheduling Problem (DFJSP) necessitates a trade-off between instant reaction to stochastic disturbances and global optimization of production goals. Conventional priority rules are insufficiently flexible to…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
Robot failure is detrimental and disruptive, often requiring human intervention to recover. Our vision is 'fail-active' operation, allowing robots to safely complete their tasks even when damaged. Focusing on 'actuation failures', we…
This paper reports on the first systematic study of congestion-aware routing algorithms for wireless mesh networks to achieve an improved end-end delay performance. In particular, we compare 802.11 compatible implementations of a set of…
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…
In robot planning, tasks can often be achieved through multiple options, each consisting of several actions. This work specifically addresses deadline constraints in task and motion planning, aiming to find a plan that can be executed…
Garment folding is a common yet challenging task in robotic manipulation. The deformability of garments leads to a vast state space and complex dynamics, which complicates precise and fine-grained manipulation. Previous approaches often…
We introduce DeepFleet, a suite of foundation models designed to support coordination and planning for large-scale mobile robot fleets. These models are trained on fleet movement data, including robot positions, goals, and interactions,…
We study the optimal design of heterogeneous Coded Elastic Computing (CEC) where machines have varying computation speeds and storage. CEC introduced by Yang et al. in 2018 is a framework that mitigates the impact of elastic events, where…
Ready Mixed Concrete Delivery Problem (RMCDP) is a multi-objective multi-constraint dynamic combinatorial optimization problem. From the operational research prospective, it is a real life logistic problem that is hard to be solved with…
In warehouse logistics, parcels released from the outfeed of an automated storage system must be routed through conveyor networks to workstations. Beyond collision avoidance, practical operations impose an additional requirement of…
The 2D Multi-Agent Path Finding (MAPF) problem aims at finding collision-free paths for a number of agents, from a set of start locations to a set of goal positions in a known 2D environment. MAPF has been studied in theoretical computer…