相关论文: Modeling and Optimizing the Provisioning of Exhaus…
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,…
In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams. This class of problems involves tasks that can be executed in different ways and are associated with…
As modern HPC computing platforms become increasingly heterogeneous, it is challenging for programmers to fully leverage the computation power of massive parallelism offered by such heterogeneity. Consequently, task-based runtime systems…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…
Robot allocation plays an essential role in facilitating robotic service provision across various domains. Yet the increasing number of users and the uncertainties regarding the users' true service requirements have posed challenges for the…
The ability of executing multiple tasks simultaneously is an important feature of redundant robotic systems. As a matter of fact, complex behaviors can often be obtained as a result of the execution of several tasks. Moreover, in…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
In this paper we propose a control framework that enables robots to execute tasks persistently, i.e., over time horizons much longer than robots' battery life. This is achieved by ensuring that the energy stored in the batteries of the…
We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs hierarchical trees to systematically break down complex…
Coordinating heterogeneous robot teams from free-form natural-language instructions is hard. Language-only planners struggle with long-horizon coordination and hallucination, while purely formal methods require closed-world models. We…
Multi-robot task allocation (MRTA) problems involve optimizing the allocation of robots to tasks. MRTA problems are known to be challenging when tasks require multiple robots and the team is composed of heterogeneous robots. These…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
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…
We propose novel techniques for task allocation and planning in multi-robot systems operating in uncertain environments. Task allocation is performed simultaneously with planning, which provides more detailed information about individual…
In this paper, we consider teams of robots with heterogeneous skills (e.g., sensing and manipulation) tasked with collaborative missions described by Linear Temporal Logic (LTL) formulas. These LTL-encoded tasks require robots to apply…
This paper addresses the problem of optimal scheduling of an aggregated power profile (during a coordinated discharging or charging operation) by means of a heterogeneous fleet of storage devices subject to availability constraints. Devices…
This paper presents a scalable solution with adjustable computation time for the joint problem of scheduling and assigning machines and transporters for missions that must be completed in a fixed order of operations across multiple stages.…
Given a heterogeneous group of robots executing a complex task represented in Linear Temporal Logic, and a new set of tasks for the group, we define the task update problem and propose a framework for automatically updating individual robot…
Robotic applications nowadays are widely adopted to enhance operational automation and performance of real-world Cyber-Physical Systems (CPSs) including Industry 4.0, agriculture, healthcare, and disaster management. These applications are…