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This paper envisions a scenario that hundreds of heterogeneous robots form a robotcenter which can be shared by multiple users and used like a single powerful robot to perform complex tasks. However, current multi-robot systems are either…

Multi-Robot Task Allocation (MRTA) is a problem that arises in many application domains including package delivery, warehouse robotics, and healthcare. In this work, we consider the problem of MRTA for a dynamic stream of tasks with task…

Due to the ubiquity of batch data processing in cloud computing, the related problem of scheduling malleable batch tasks and its extensions have received significant attention recently. In this paper, we consider a fundamental model where a…

In this paper, we study joint batching and (task) scheduling to maximise the throughput (i.e., the number of completed tasks) under the practical assumptions of heterogeneous task arrivals and deadlines. The design aims to optimise the…

In dynamic urban logistics, the stochastic emergence of time-sensitive tasks poses a significant optimality challenge for heterogeneous AAVs logistics task allocation. To address this problem, a reinforcement learning enhanced overlapping…

A benchmark for multi-UAV task assignment is presented in order to evaluate different algorithms. An extended Team Orienteering Problem is modeled for a kind of multi-UAV task assignment problem. Three intelligent algorithms, i.e., Genetic…

This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The proposed method…

We introduce a parallel machine scheduling problem in which the processing times of jobs are not given in advance but are determined by a system of linear constraints. The objective is to minimize the makespan, i.e., the maximum job…

We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of…

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…

One of today's goals for industrial robot systems is to allow fast and easy provisioning for new tasks. Skill-based systems that use planning and knowledge representation have long been one possible answer to this. However, especially with…

In this work, we address a task allocation problem for human multi-robot settings. Given a set of tasks to perform, we formulate a general Mixed-Integer Linear Programming (MILP) problem aiming at minimizing the overall execution time while…

This paper presents a hybrid route-path planning model for an Autonomous Underwater Vehicle's task assignment and management while the AUV is operating through the variable littoral waters. Several prioritized tasks distributed in a large…

Coordinating production and material transfers is increasingly important in modern manufacturing systems equipped with mobile transfer robots, known as transbots. This study considers a flexible job shop environment in which heterogeneous…

Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…

We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot…

We consider online scheduling to minimize weighted completion time on related machines, where each job consists of several tasks that can be concurrently executed. A job gets completed when all its component tasks finish. We obtain an…

In robot planning, tasks can often be achieved through multiple options, each consisting of several actions. This work specifically addresses deadline constraints in task and motion planning, aiming to find a plan that can be executed…

We present a heuristic algorithm for solving the problem of scheduling plans of tasks. The plans are ordered vectors of tasks, and tasks are basic operations carried out by resources. Plans are tied by temporal, precedence and resource…

The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…