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In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Opportunistic networks are delay-tolerant networks which enable network connectivity while there is limited access to network infrastructure, such as natural disaster happenings. Since opportunistic networks use store-carry-forward…
In ad hoc networks scalability is a critical requirement if these technologies have to reach their full potential. Most of the proposed routing protocols do not operate efficiently with networks of more than a few hundred nodes. In this…
We propose a hierarchical reinforcement learning (HRL) framework for efficient Navigation Among Movable Obstacles (NAMO) using a mobile manipulator. Our approach combines interaction-based obstacle property estimation with structured…
Optimal transport aims to learn a mapping of sources to targets by minimizing the cost, which is typically defined as a function of distance. The solution to this problem consists of straight line segments optimally connecting sources to…
Many networked systems involve multiple modes of transport. Such systems are called multimodal, and examples include logistic networks, biomedical phenomena, manufacturing process and telecommunication networks. Existing techniques for…
Transport processes are universal in real-world complex networks, such as communication and transportation networks. As the increase of the traffic in these complex networks, problems like traffic congestion and transport delay are becoming…
The structure of networks that provide optimal transport properties has been investigated in a variety of contexts. While many different formulations of this problem have been considered, it is recurrently found that optimal networks are…
With the goal of efficiently computing collision-free robot motion trajectories in dynamically changing environments, we present results of a novel method for Heuristics Informed Robot Online Path Planning (HIRO). Dividing robot…
We consider a distributed stochastic optimization problem in networks with finite number of nodes. Each node adjusts its action to optimize the global utility of the network, which is defined as the sum of local utilities of all nodes.…
This paper studies a fundamental algorithmic problem related to the design of demand-aware networks: networks whose topologies adjust toward the traffic patterns they serve, in an online manner. The goal is to strike a tradeoff between the…
Routing optimization is a relevant problem in many contexts. Solving directly this type of optimization problem is often computationally unfeasible. Recent studies suggest that one can instead turn this problem into one of solving a…
This paper investigates the optimal signal detection problem with a particular interest in large-scale multiple-input multiple-output (MIMO) systems. The problem is NP-hard and can be solved optimally by searching the shortest path on the…
ulticasting is an important communication paradigm for enabling the dissemination of information selectively. This paper considers the problem of optimal secure multicasting in a communication network captured through a graph (optimal is in…
In this paper we address several constrained transportation optimization problems (e.g. vehicle routing, shortest Hamiltonian path), for which we present novel algorithmic solutions and extensions, considering several optimization…
Connected and autonomous vehicles have the potential to minimize energy consumption by optimizing the vehicle velocity and powertrain dynamics with Vehicle-to-Everything info en route. Existing deterministic and stochastic methods created…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
We study hierarchical properties of optimal transportation networks with biological background. The networks are obtained as minimizers of an energy functional which involves a metabolic cost term of a power-law form with exponent…
Mobility support in future networks will be predominately based on micro mobility protocols. Current proposed schemes such as Hierarchical Mobile IPv6 (HMIPv6) and more importantly Proxy Mobile IPv6 (PMIPv6) provide localized mobility…
Robots often need to solve path planning problems where essential and discrete aspects of the environment are partially observable. This introduces a multi-modality, where the robot must be able to observe and infer the state of its…