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Wilde, N. (author), Alonso-Mora, J. (author)We study the problem of finding statistically distinct plans for stochastic task assignment problems such as online multi-robot pickup and delivery (MRPD) when facing multiple competing objectives. In many real-world settings robot fleets do not only need to fulfil delivery requests, but also have to consider auxiliary objectives such as...journal article 2024
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Dutta, Shamak (author), Wilde, N. (author), Smith, Stephen L. (author)We present a new mixed integer formulation for the discrete informative path planning problem in random fields. The objective is to compute a budget constrained path while collecting measurements whose linear estimate results in minimum error over a finite set of prediction locations. The problem is known to be NP-hard. However, we strive to...conference paper 2022