Related papers: Collaborative Task and Path Planning for Heterogen…
In order to fully exploit the advantages inherent to cooperating heterogeneous multi-robot teams, sophisticated coordination algorithms are essential. Time-extended multi-robot task allocation approaches assign and schedule a set of tasks…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
In this paper we outline the approach of solving special type of navigation tasks for robotic systems, when a coalition of robots (agents) acts in the 2D environment, which can be modified by the actions, and share the same goal location.…
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…
Many applications involving complex multi-task problems such as disaster relief, logistics and manufacturing necessitate the deployment and coordination of heterogeneous multi-agent systems due to the sheer number of tasks that must be…
We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…
Real-world multi-agent planning problems cannot be solved using decision-theoretic planning methods due to the exponential complexity. We approximate firefighting in rescue simulation as a spatially distributed task and model with…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…
Recent years have seen an increasing number of deployment of fleets of autonomous vehicles. As the problem scales up, in terms of autonomous vehicles number and complexity of their objectives, there is a growing need for decision-support…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
Robot swarms navigating through unknown obstacle environments are an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making,…
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
We consider the problem of completing a set of $n$ tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproductive if there are finitely many tasks to be done. Rather,…