Related papers: Planning under Continuous Time and Resource Uncert…
Energy infrastructure planning under uncertainty has become increasingly complex as electrification, interdependence between energy carriers, decarbonization, and extreme weather events reshape long-term investment decisions. This paper…
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…
A fundamental assumption made by classical AI planners is that there is no uncertainty in the world: the planner has full knowledge of the conditions under which the plan will be executed and the outcome of every action is fully…
This paper reviews compact continuous-time formulations for the multi-mode resource-constrained project scheduling problem. Specifically, we first point out a serious flaw in an existing start-end-event-based formulation owing to…
In this paper, we investigate resource allocation algorithm design for multiuser unmanned aerial vehicle (UAV) communication systems in the presence of UAV jittering and user location uncertainty. In particular, we jointly optimize the…
This paper considers theoretical solutions for path planning problems under non-probabilistic uncertainty used in the travel salesman problems under uncertainty. The uncertainty is on the paths between the cities as nodes in a travelling…
Planning in robotics is often split into task and motion planning. The high-level, symbolic task planner decides what needs to be done, while the motion planner checks feasibility and fills up geometric detail. It is known however that such…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…
Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…
Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution…
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,…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. A simultaneous matching and routing problem (SMRP) is formulated to match the humans with robot guides…
With the continuous increment of maritime applications, the development of marine networks for data offloading becomes necessary. However, the limited maritime network resources are very difficult to satisfy real-time demands. Besides, how…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
In order to engender trust in AI, humans must understand what an AI system is trying to achieve, and why. To overcome this problem, the underlying AI process must produce justifications and explanations that are both transparent and…
Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…
Risk to human astronauts and interplanetary distance causing slow and limited communication drives scientists to pursue an autonomous approach to exploring distant planets, such as Mars. A portion of exploration of Mars has been conducted…
Predicting query execution time is a fundamental issue underlying many database management tasks. Existing predictors rely on information such as cardinality estimates and system performance constants that are difficult to know exactly. As…
We tackle the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain time-varying locations. The uncertainties are modeled using widely accepted Gaussian distributions, resulting in a…