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This paper addresses task-allocation problems with uncertainty in situational awareness for distributed autonomous robots (DARs). The uncertainty propagation over a task-allocation process is done by using the Unscented transform that uses the Sigma-Point sampling mechanism. It has great potential to be employed for generic task-allocation schemes, in the sense that there is no need to modify an existing task-allocation method that has been developed without considering the uncertainty in the situational awareness. The proposed framework was tested in a simulated environment where the decision-maker needs to determine an optimal allocation of multiple locations assigned to multiple mobile flying robots whose locations come as random variables of known mean and covariance. The simulation result shows that the proposed stochastic task allocation approach generates an assignment with 30% less overall cost than the one without considering the uncertainty.
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exploration for quadrupedal robots by creating an end-to-end navigation f
We consider the problem of dynamically allocating tasks to multiple agents under time window constraints and task completion uncertainty. Our objective is to minimize the number of unsuccessful tasks at the end of the operation horizon. We present a
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its intrinsic dimensi
Intelligent mobile robots are critical in several scenarios. However, as their computational resources are limited, mobile robots struggle to handle several tasks concurrently and yet guaranteeing real-timeliness. To address this challenge and improv
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for static and dyn