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

In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a problem known to be NP-hard to optimally solve. Following the…

Recent advances in neural neighborhood search methods have shown potential in tackling Vehicle Routing Problems (VRPs). However, most existing approaches rely on simplistic state representations and fuse heterogeneous information via naive…

This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. In the proposed centralized multi-robot planner, a simultaneous matching and routing problem (SMRP) is…

Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…

We consider a swarm of mobile robots evolving in a bidimensional Euclidean space. We study a variant of the crash-tolerant gathering problem: if no robot crashes, robots have to meet at the same arbitrary location, not known beforehand, in…

We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a…

Routing problems are often faced by companies who serve costumers through vehicles. Such problems have a challenging structure to optimize, despite the recent advances in combinatorial optimization. The goal of this project is to study and…

In this paper the preliminary design of multiple gravity-assist trajectories is formulated as a global optimization problem. An analysis of the structure of the solution space reveals a strong multimodality, which is strictly dependent on…

The traveling salesman problem (TSP) and the graph partitioning problem (GPP) are two important combinatorial optimization problems with many applications. Due to the NP-hardness of these problems, heuristic algorithms are commonly used to…

Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…

Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…

We introduce a package service model where trucks as well as drones can deliver packages. Drones can travel on trucks or fly; but while flying, drones can only carry one package at a time and have to return to a truck to charge after each…

An universal primal-dual approach of description equilibriums in large class of hierarchical congestion population games is proposed. At the very core of the approach is hierarchy of enclosed to each other transport networks. In different…

In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under…

In this paper, we investigate the problem of a last-mile delivery service that selects up to $N$ available vehicles to deliver $M$ packages from a centralized depot to $M$ delivery locations. The objective of the last-mile delivery service…

Predicting and comparing algorithm performance on graph instances is challenging for multiple reasons. First, there is usually no standard set of instances to benchmark performance. Second, using existing graph generators results in a…

The multi-robot coverage problem is an essential building block for systems that perform tasks like inspection or search and rescue. We discretize the coverage problem to induce a spatial graph of locations and represent robots as nodes in…

Learning-based methods for routing have gained significant attention in recent years, both in single-objective and multi-objective contexts. Yet, existing methods are unsuitable for routing on multigraphs, which feature multiple edges with…

In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…

The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular…