相关论文: MRBTP: Efficient Multi-Robot Behavior Tree Plannin…

Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However, in such environments, communication links may be…

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…

Traditional robot task planning methods face challenges when dealing with highly unstructured environments and complex tasks. We propose a task planning method that combines human expertise with an LLM and have designed an LLM prompt…

There emerges a promising trend of using large language models (LLMs) to generate code-like plans for complex inference tasks such as visual reasoning. This paradigm, known as LLM-based planning, provides flexibility in problem solving and…

Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning to the charging station before the battery runs out. Some of…

In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…

Multi-robot coordination based on large language models (LLMs) has attracted growing attention, since LLMs enable the direct translation of natural language instructions into robot action plans by decomposing tasks and generating high-level…

In the realm of data-driven AI technology, the application of open-source large language models (LLMs) in robotic task planning represents a significant milestone. Recent robotic task planning methods based on open-source LLMs typically…

Multi-robot systems are emerging as a promising solution to the growing demand for productivity, safety, and adaptability across industrial sectors. However, effectively coordinating multiple robots in dynamic and uncertain environments,…

Multi-robot collaboration tasks often require heterogeneous robots to work together over long horizons under spatial constraints and environmental uncertainties. Although Large Language Models (LLMs) excel at reasoning and planning, their…

This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…

Attracted by team scale and function diversity, a heterogeneous multi-robot system (HMRS), where multiple robots with different functions and numbers are coordinated to perform tasks, has been widely used for complex and large-scale…

We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…

Large Language Models (LLMs) enable intelligent multi-robot collaboration but face fundamental trade-offs: open-loop methods that compile tasks into formal representations for external executors produce sound plans but lack adaptability in…

Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…

In many applications, multi-robot systems are required to achieve multiple objectives. For these multi-objective tasks, it is oftentimes hard to design a single control policy that fulfills all the objectives simultaneously. In this paper,…

Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…

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…

This paper proposes a rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HyRRT, randomly picks a state sample and extends the search tree…

Multi-Task Learning (MTL) has shown its importance at user products for fast training, data efficiency, reduced overfitting etc. MTL achieves it by sharing the network parameters and training a network for multiple tasks simultaneously.…