相关论文: KC-TSS: An Algorithm for Heterogeneous Robot Teams…
The Multi-Traveling Salesman Problem (MTSP) is a commonly used mathematical model for multi-agent task allocation. However, as the number of agents and task targets increases, existing optimization-based methods often incur prohibitive…
This paper proposes an online path planning and motion generation algorithm for heterogeneous robot teams performing target search in a real-world environment. Path selection for each robot is optimized using an information-theoretic…
We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adaptability, while conventional sampling-based methods require…
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…
This paper addresses a generalization problem of Multi-Agent Pathfinding (MAPF), called Collaborative Task Sequencing - Multi-Agent Pathfinding (CTS-MAPF), where agents must plan collision-free paths and visit a series of intermediate task…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
Combinatorial optimization problems are typically NP-hard, and thus very challenging to solve. In this paper, we present the random key cuckoo search (RKCS) algorithm for solving the famous Travelling Salesman Problem (TSP). We used a…
The Collaborative Task Sequencing and Multi-Agent Path Finding (CTS-MAPF) problem requires agents to accomplish sequences of tasks while avoiding collisions, posing significant challenges due to its combinatorial complexity. This work…
The Generalized Traveling Salesman Problem (GTSP) is an extension of the well-known Traveling Salesman Problem (TSP), where the node set is partitioned into clusters, and the objective is to find the shortest cycle visiting each cluster…
Several task and motion planning algorithms have been proposed recently to design paths for mobile robot teams with collaborative high-level missions specified using formal languages, such as Linear Temporal Logic (LTL). However, the…
The generalized traveling salesman problem (GTSP) is an extension of the well-known traveling salesman problem. In GTSP, we are given a partition of cities into groups and we are required to find a minimum length tour that includes exactly…
Tethered robots play a pivotal role in specialized environments such as disaster response and underground exploration, where their stable power supply and reliable communication offer unparalleled advantages. However, their motion planning…
The moving target traveling salesman problem with obstacles (MT-TSP-O) seeks an obstacle-free trajectory for an agent that intercepts a given set of moving targets, each within specified time windows, and returns to the agent's starting…
This paper introduces CARSS (Cooperative Attention-guided Reinforcement Subpath Synthesis), a novel approach to address the Traveling Salesman Problem (TSP) by leveraging cooperative Multi-Agent Reinforcement Learning (MARL). CARSS…
In this paper, we provide a novel strategy for solving Traveling Salesman Problem, which is a famous combinatorial optimization problem studied intensely in the TCS community. In particular, we consider the imitation learning framework,…
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…
Collaborative Mobile Crowdsourcing (CMCS) allows platforms to recruit worker teams to collaboratively execute complex sensing tasks. The efficiency of such collaborations could be influenced by trust relationships among workers. To obtain…
In this article, we address the problem of collaborative task assignment, sequencing, and multi-agent pathfinding (TSPF), where a team of agents must visit a set of task locations without collisions while minimizing flowtime. TSPF…
Multi-robot systems are integral to modern logistics, but their capabilities are often limited to tasks executable by individual agents. This paper addresses a critical gap in existing frameworks like Multi-Agent Path Finding (MAPF) and…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…