相关论文: On multi-robot search for a stationary object

The number of optimization techniques in the combinatorial domain is large and diversified. Nevertheless, real-world based benchmarks for testing algorithms are few. This work creates an extensible real-world mail delivery benchmark to the…

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…

Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…

We consider an agent seeking to obtain an item, potentially available at different locations in a physical environment. The traveling costs between locations are known in advance, but there is only probabilistic knowledge regarding the…

Robots with very limited capabilities are placed on the vertices of a graph and are required to move toward a single, common vertex, where they remain stationary once they arrive. This task is referred to as the GATHERING problem. Most of…

The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…

In this paper we deal with an extension of the crossing postman problem to design Hamiltonian routes that have to visit different shapes of dimensional elements (neighborhoods or polygonal chains) rather than edges. This problem models…

This paper proposes KC-TSS: K-Clustered-Traveling Salesman Based Search, a failure resilient path planning algorithm for heterogeneous robot teams performing target search in human environments. We separate the sample path generation…

We investigate the task and motion planning problem of clearing clutter from a workspace with limited ingress/egress access for multiple robots. We call the problem multi-robot clutter removal (MRCR). Targeting practical applications where…

We consider multi-agent transport task problems where, e.g. in a factory setting, items have to be delivered from a given start to a goal pose while the delivering robots need to avoid collisions with each other on the floor. We introduce a…

An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…

High-performance TSP solvers like LKH search within a sparsified candidate graph rather than over all possible edges. Graph sparsification is non-trivial: keep too many edges and the solver wastes time; cut too many and it loses edges that…

This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…

In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…

The Container Relocation Problem (CRP) is concerned with finding a sequence of moves of containers that minimizes the number of relocations needed to retrieve all containers, while respecting a given order of retrieval. However, the…

Transportation occupies one-third of the amount in the logistics costs, and accordingly transportation systems largely influence the performance of the logistics system. This work presents an adaptive data-driven innovative modular approach…

Marsupial robot teams consist of carrier robots that transport and deploy multiple passenger robots, such as a team of ground robots that carry and deploy multiple aerial robots, to rapidly explore complex environments. We specifically…

We consider a family of Rich Vehicle Routing Problems (RVRP) which have the particularity to combine a heterogeneous fleet with other attributes, such as backhauls, multiple depots, split deliveries, site dependency, open routes, duration…

Multiple-TSP, also abbreviated in the literature as mTSP, is an extension of the Traveling Salesman Problem that lies at the core of many variants of the Vehicle Routing problem of great practical importance. The current paper develops and…

This work is inspired by the problem of planning sequences of operations, as welding, in car manufacturing stations where multiple industrial robots cooperate. The goal is to minimize the station cycle time, \emph{i.e.} the time it takes…