相关论文: Coordination of Multiple Robots along Given Paths …

Multi-Agent Pickup and Delivery (MAPD) is the problem of computing collision-free paths for a group of agents such that they can safely reach delivery locations from pickup ones. These locations are provided at runtime, making MAPD a…

Challenges in real-world robotic applications often stem from managing multiple, dynamically varying entities such as neighboring robots, manipulable objects, and navigation goals. Existing multi-agent control strategies face scalability…

Solving the Multi-Agent Path Finding (MAPF) problem optimally is known to be NP-Hard for both make-span and total arrival time minimization. While many algorithms have been developed to solve MAPF problems, there is no dominating optimal…

This paper investigates Multi-Agent Path Finding Among Movable Obstacles (M-PAMO), which seeks collision-free paths for multiple agents from their start to goal locations among static and movable obstacles. M-PAMO arises in logistics and…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

Multi-Robot Path Planning (MRPP) on graphs, equivalently known as Multi-Agent Path Finding (MAPF), is a well-established NP-hard problem with critically important applications. As serial computation in (near)-optimally solving MRPP…

This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…

By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…

Scheduling theory is an old and well-established area in combinatorial optimization, whereas the much younger area of parameterized complexity has only recently gained the attention of the community. Our aim is to bring these two areas…

Multi-Agent Pickup and Delivery (MAPD) is a fundamental problem in robotics, particularly in applications such as warehouse automation and logistics. Existing solutions often face challenges in scalability, adaptability, and efficiency,…

It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…

We define a new problem called the Vehicle Scheduling Problem (VSP). The goal is to minimize an objective function, such as the number of tardy vehicles over a transportation network subject to maintaining safety distances, meeting hard…

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…

This paper studies a combinatorial optimization problem which is obtained by combining the flow shop scheduling problem and the shortest path problem. The objective of the obtained problem is to select a subset of jobs that constitutes a…

Multi-robot patrolling represents a fundamental problem for many monitoring and surveillance applications and has gained significant interest in recent years. In patrolling, mobile robots repeatedly travel through an environment, capture…

This paper addresses the problem of multi-robot navigation where robots maneuver on a desired \(m\)-dimensional (i.e., \(m\)-D) manifold in the $n$-dimensional Euclidean space, and maintain a {\it flexible spatial ordering}. We consider $…

Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…

Min-max routing problems aim to minimize the maximum tour length among multiple agents by having agents conduct tasks in a cooperative manner. These problems include impactful real-world applications but are known as NP-hard. Existing…

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…

We study the problem of optimal multi-robot path planning on graphs (MPP) over four distinct minimization objectives: the total arrival time, the makespan (last arrival time), the total distance, and the maximum (single-robot traveled)…