Related papers: CREST: Constraint-Release Execution for Multi-Robo…
Robot picking and packing tasks require dexterous manipulation skills, such as rearranging objects to establish a good grasping pose, or placing and pushing items to achieve tight packing. These tasks are challenging for robots due to the…
Computer-aided synthesis planning (CASP) algorithms have demonstrated expert-level abilities in planning retrosynthetic routes to molecules of low to moderate complexity. However, current search methods assume the sufficiency of reaching…
Federated robotic task execution systems require bridging natural language instructions to distributed robot control while efficiently managing computational resources across heterogeneous edge devices without centralized coordination.…
Multi-robot systems are uniquely well-suited to performing complex tasks such as patrolling and tracking, information gathering, and pick-up and delivery problems, offering significantly higher performance than single-robot systems. A…
Modern large-scale computing deployments consist of complex applications running over machine clusters. An important issue in these is the offering of elasticity, i.e., the dynamic allocation of resources to applications to meet fluctuating…
Decision making in multi-agent systems (MAS) is a great challenge due to enormous state and joint action spaces as well as uncertainty, making centralized control generally infeasible. Decentralized control offers better scalability and…
In a modern distributed storage system, storage nodes are organized in racks, and the cross-rack communication dominates the system bandwidth. In We study the rack-aware storage system where all storage nodes are organized in racks and…
Multi-agent proximal policy optimization (MAPPO) has recently demonstrated state-of-the-art performance on challenging multi-agent reinforcement learning tasks. However, MAPPO still struggles with the credit assignment problem, wherein the…
Multicommodity capacitated network design (MCND) models can be used to optimize the consolidation of shipments within e-commerce fulfillment networks. In practice, fulfillment networks require that shipments with the same origin and…
We present Scalable Multi-Agent Realistic Testbed (SMART), a realistic and efficient software tool for evaluating Multi-Agent Path Finding (MAPF) algorithms. MAPF focuses on planning collision-free paths for a group of robots. While…
Multi-Agent Motion Planning (MAMP) finds various applications in fields such as traffic management, airport operations, and warehouse automation. In many of these environments, differential drive robots are commonly used. These robots have…
Multi-Agent Path finding (MAPF) is the problem of finding paths for a set of agents such that each agent reaches its desired destination while avoiding collisions with the other agents. This problem arises in many robotics applications,…
This paper presents a Center of Mass (CoM) based manipulation and regrasp planner that implements stability constraints to preserve the robot balance. The planner provides a graph of IK-feasible, collision-free and stable motion sequences,…
The optimal dispatch of energy storage systems (ESSs) presents formidable challenges due to the uncertainty introduced by fluctuations in dynamic prices, demand consumption, and renewable-based energy generation. By exploiting the…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
The Location-Routing Problem (LRP), which combines the challenges of facility (depot) locating and vehicle route planning, is critically constrained by the reliance on predefined depot candidates, limiting the solution space and potentially…
This paper presents a shared-control rehabilitation policy for a custom 6-degree-of-freedom (6-DoF) upper-limb robot that decomposes complex reaching tasks into decoupled spatial axes. The patient governs the primary reaching direction…
The strong dynamic coupling between the manipulator and the base poses a significant challenge to maintaining spacecraft attitude stability, potentially compromising mission safety. In this paper, we propose a Dual-Agent Coordinated…
We consider the coordinated escort problem, where a decentralised team of supporting robots implicitly assist the mission of higher-value principal robots. The defining challenge is how to evaluate the effect of supporting robots' actions…
The concurrent target assignment and pathfinding (TAPF) problem extends multi-agent pathfinding (MAPF) by asking planners to allocate distinct targets and collision-free paths to agents. Prior work on TAPF has relied exclusively on…