Online pickup and delivery planning with transfers for mobile robots

Coltin, Brian; Veloso, Manuela

doi:10.1109/icra.2014.6907709

Cited by 48 publications

(30 citation statements)

References 10 publications

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“…Concurrently with collaborative robotics, the broad area of service robotics has been growing rapidly, developing robots that can provide services in everyday life, such as vacuuming and cleaning floors (Jones, 2006;Forlizzi and DiSalvo, 2006;Mutlu and Forlizzi, 2008), folding laundry (Osawa et al, 2006;Maitin-Shepard et al, 2010), delivering packages (Simmons et al, 1997;Coltin and Veloso, 2014), giving museum tours (Nourbakhsh et al, 1999), driving autonomously (Levinson et al, 2011), and providing aid to special needs populations in the context of socially assistive robotics (Feil-Seifer and Mataric, 2005;Bemelmans et al, 2012;Broekens et al, 2009), along with numerous other uses.…”

Section: Service and Socially Interactive Robotsmentioning

confidence: 99%

Embodiment in Socially Interactive Robots

2019

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Physical embodiment is a required component for robots that are structurally coupled with their real-world environments. However, most socially interactive robots do not need to physically interact with their environments in order to perform their tasks. When and why should embodied robots be used instead of simpler and cheaper virtual agents?This paper reviews the existing work that explores the role of physical embodiment in socially interactive robots. This class consists of robots that are not only capable of engaging in social interaction with humans, but are using primarily their social capabilities to perform their desired functions. Socially interactive robots provide entertainment, information, and/or assistance; this last category is typically encompassed by socially assistive robotics. In all cases, such robots can achieve their primary functions without performing functional physical work.To comprehensively evaluate the existing body of work on embodiment, we first review work from established related fields including psychology, philosophy, and sociology. We then systematically review 65 studies evaluating aspects of embodiment published from 2003 to 2017 in major peer-reviewed robotics publication venues. We examine relevant aspects of the selected studies, focusing on the embodiments compared, tasks evaluated, social roles of robots, and measurements. We introduce three taxonomies for the types of robot embodiment, robot social roles, and human-robot tasks. These taxonomies are used to deconstruct the design and interaction spaces of socially interactive robots and facilitate analysis and discussion of the reviewed studies. We use this newly-defined methodology to critically discuss existing works, revealing topics within embodiment research for social interaction, assistive robotics, and service robotics, in which more extensive exploration would greatly improve the current understanding of the impact of embodiment on human perception and evaluation of human-robot interactions.The introduced taxonomy for embodiment design is used as a starting point for outlining our characterization of the design space of robot embodiments. The presented arXiv:1912.00312v1 [cs.RO] 1 Dec 2019 characterization can be used to discuss how the physical embodiment of socially interactive robots relates to social capabilities and affordances. By introducing a general model of the design space, existing research findings can better advise robot designers and we discuss how these findings can inform researchers through design decisions in the development of future socially interactive robots.

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Section: Service and Socially Interactive Robotsmentioning

confidence: 99%

Embodiment in Socially Interactive Robots

2019

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“…full support > 0 and < 1 partial support (6) Since composite agents might comprise a high level of redundancy, the introduction of a saturation bound shall reduce the number of agents which have to be considered when a given set of functionalities is demanded. We define the functional saturation bound for an atomic agent type a with respect to functionality f using the inverse of support:…”

Section: Suitable Agentsmentioning

confidence: 99%

“…While much of the research in VRP originates from the area of operational research, Coltin and Veloso [6,7,8] investigate a pick-up and delivery variant in the context of multi-robot systems and also apply their approach to a taxi problem with ridesharing. They implement optimal approaches as well as meta-heuristics, in particular simulated annealing, and Very Large Neighborhood Search (VLNS) [3] their application of VLNS results not only in a scalable approach, but also proves a general benefit of using transfers in a pickup and delivery scenario.…”

Section: Introductionmentioning

confidence: 99%

A Constraint-based Mission Planning Approach for Reconfigurable Multi-Robot Systems

Roehr¹

2018

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The application of reconfigurable multi-robot systems introduces additional degrees of freedom to design robotic missions compared to classical multi-robot systems. To allow for autonomous operation of such systems, planning approaches have to be investigated that cannot only cope with the combinatorial challenge arising from the increased flexibility of modular systems, but also exploit this flexibility to improve for example the safety of operation. While the problem originates from the domain of robotics it is of general nature and significantly intersects with operations research. This paper suggests a constraint-based mission planning approach, and presents a set of revised definitions for reconfigurable multi-robot systems including the representation of the planning problem using spatially and temporally qualified resource constraints. Planning is performed using a multi-stage approach and a combined use of knowledge-based reasoning, constraint-based programming and integer linear programming. The paper concludes with the illustration of the solution of a planned example mission.

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“…An example of VRP similarities is the online pickup and delivery problem with transfers, where a team of vehicles has to pick up a set of items at a location and deliver them to another location [28]. This problem is a generalization of the pickup and delivery problem [29] which is well studied in operations research.…”

Section: Mrta/toc Vs Vrptwmentioning

confidence: 99%

Decentralized allocation of tasks with temporal and precedence constraints to a team of robots

Nunes

McIntire

Gini

2016

2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)

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We validate the framework in simulation and also run experiments in a robotic testbed with three Turtlebot 2 robots. Additionally, we leverage the power of simulation as a schedule evaluation tool. We present risk and probabilistic analysis that enable users to assess when to readjust tasks' constraints to improve task completion. Taken together, this thesis proposes methods that divide tasks and constraints among the robots, such that each robot controls a subset of the constraints. This decomposition leads to low computational costs, flexibility to handle local failures, and greater individual robot autonomy. These features are important in designing responsive systems for groups of robots that operate in environments where exogenous events are common and may affect robot performance.

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Online pickup and delivery planning with transfers for mobile robots

Cited by 48 publications

References 10 publications

Embodiment in Socially Interactive Robots

Embodiment in Socially Interactive Robots

A Constraint-based Mission Planning Approach for Reconfigurable Multi-Robot Systems

Decentralized allocation of tasks with temporal and precedence constraints to a team of robots

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