相关论文: Context-Aware System Synthesis, Task Assignment, a…

The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…

Automating design minimizes errors, accelerates the design process, and reduces cost. However, automating robot design is challenging due to recursive constraints, multiple design objectives, and cross-domain design complexity possibly…

Social robot navigation algorithms are often demonstrated in overly simplified scenarios, prohibiting the extraction of practical insights about their relevance to real-world domains. Our key insight is that an understanding of the inherent…

We consider the problem of warehouse multi-robot automation system in discrete-time and discrete-space configuration with focus on the task allocation and conflict-free path planning. We present a system design where a centralized server…

Robotic systems are typically composed of various subsystems, such as localization and navigation, each encompassing numerous configurable components (e.g., selecting different planning algorithms). Once an algorithm has been selected for a…

Reasoning language models perform well on complex tasks but are costly to deploy due to their size and long reasoning traces. We propose a routing approach that assigns each problem to the smallest model likely to solve it, reducing compute…

This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…

Solving a collision-aware multi-agent mission planning (task allocation and path finding) problem is challenging due to the requirement of real-time computational performance, scalability, and capability of handling static/dynamic obstacles…

We present an overview and evaluation of a new, systematic approach for generation of highly realistic, annotated synthetic data for training of deep neural networks in computer vision tasks. The main contribution is a procedural world…

Object rearrangement is the problem of enabling a robot to identify the correct object placement in a complex environment. Prior work on object rearrangement has explored a diverse set of techniques for following user instructions to…

Efficient task allocation among multiple robots is crucial for optimizing productivity in modern warehouses, particularly in response to the increasing demands of online order fulfillment. This paper addresses the real-time multi-robot task…

This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…

In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…

Quadratic assignment problem is one of the great challenges in combinatorial optimization. It has many applications in Operations research and Computer Science. In this paper, the author extends the most-used rounding approach to a…

In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…

In this work, we formulate the problem of team formation amidst conflicts. The goal is to assign individuals to tasks, with given capacities, taking into account individuals' task preferences and the conflicts between them. Using dependent…

One of the major challenges in the coordination of large, open, collaborative, and commercial vehicle fleets is dynamic task allocation. Self-concerned individually rational vehicle drivers have both local and global objectives, which…

This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…

Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturbances and unpredicted phenomena in the environment where…

One simplifying assumption made in distributed robot systems is that the robots are single-tasking: each robot operates on a single task at any time. While such a sanguine assumption is innocent to make in situations with sufficient…