相关论文: GRAPE-S: Near Real-Time Coalition Formation for Mu…

Applications, such as military and disaster response, can benefit from robotic collectives' ability to perform multiple cooperative tasks (e.g., surveillance, damage assessments) efficiently across a large spatial area. Coalition formation…

In this paper, we study the multi-robot task allocation problem where a group of robots needs to be allocated to a set of tasks so that the tasks can be finished optimally. One task may need more than one robot to finish it. Therefore the…

The coalition structure formation problem represents an active research area in multi-agent systems. A coalition structure is defined as a partition of the agents involved in a system into disjoint coalitions. The problem of finding the…

In Artificial Intelligence with Coalition Structure Generation (CSG) one refers to those cooperative complex problems that require to find an optimal partition, maximising a social welfare, of a set of entities involved in a system into…

Coalition formation typically involves the coming together of multiple, heterogeneous, agents to achieve both their individual and collective goals. In this paper, we focus on a special case of coalition formation known as Graph-Constrained…

We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot…

In large-scale natural disasters, humans are likely to fail when they attempt to reach high-risk sites or act in search and rescue operations. Robots, however, outdo their counterparts in surviving the hazards and handling the search and…

We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…

Coalition formation is a key capability in multi-agent systems. An important problem in coalition formation is coalition structure generation: partitioning agents into coalitions to optimize the social welfare. This is a challenging problem…

We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…

Two fundamental algorithm-design paradigms are Tree Search and Dynamic Programming. The techniques used therein have been shown to complement one another when solving the complete set partitioning problem, also known as the coalition…

Automatic Robotic Assembly Sequence Planning (RASP) can significantly improve productivity and resilience in modern manufacturing along with the growing need for greater product customization. One of the main challenges in realizing such…

The problem of generating an optimal coalition structure for a given coalition game of rational agents is to find a partition that maximizes their social welfare and is known to be NP-hard. This paper proposes GCS-Q, a novel…

Smart system applications (SSAs) built on top of cyber-physical and socio-technical systems are increasingly composed of components that can work both autonomously and by cooperating with each other. Cooperating robots, fleets of cars and…

In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…

Coalition is an important mean of multi-robot systems to collaborate on common tasks. An adaptive coalition strategy is essential for the online performance in dynamic and unknown environments. In this work, the problem of territory defense…

Complex multi-robot missions often require heterogeneous teams to jointly optimize task allocation, scheduling, and path planning to improve team performance under strict constraints. We formalize these complexities into a new class of…

Collaborative Simultaneous Localization and Mapping (CSLAM) is a critical capability for enabling multiple robots to operate in complex environments. Most CSLAM techniques rely on the transmission of low-level features for visual and…

Coalition formation is a fundamental type of interaction that involves the creation of coherent groupings of distinct, autonomous, agents in order to efficiently achieve their individual or collective goals. Forming effective coalitions is…

The Team Orienteering Problem (TOP) generalizes many real-world multi-robot scheduling and routing tasks that occur in autonomous mobility, aerial logistics, and surveillance applications. While many flavors of the TOP exist for planning in…