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Space robotics poses unique challenges arising from the limitation of energy and computational resources, and the complexity of the environment and employed platforms. At the control center, offline motion planning is fundamental in the…
We consider a probabilistic model for large-scale task allocation problems for multi-agent systems, aiming to determine an optimal deployment strategy that minimizes the overall transport cost. Specifically, we assign transportation agents…
In this work, we construct a novel numerical method for solving the multi-marginal optimal transport problems with Coulomb cost. This type of optimal transport problems arises in quantum physics and plays an important role in understanding…
This paper presents a hybrid route-path planning model for an Autonomous Underwater Vehicle's task assignment and management while the AUV is operating through the variable littoral waters. Several prioritized tasks distributed in a large…
We describe the orchestration of a decentralized swarm of rotary-wing UAV-relays, augmenting the coverage and service capabilities of a terrestrial base station. Our goal is to minimize the time-average service latencies involved in…
We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with densely populated obstacles and narrow passages. In such…
In this letter, we introduce a novel pilot design approach that minimizes the total mean square errors of the minimum mean square error estimators of all base stations (BSs) subject to the transmit power constraints of individual users in…
Motion planning is an essential part of autonomous mobile platforms. A good pipeline should be modular enough to handle different vehicles, environments, and perception modules. The planning process has to cope with all the different…
Collaboration between drones and trucks in a last-mile delivery system offers numerous benefits and reduces many challenges of the traditional delivery system. Here, we introduce Drone-Delivery Packing Problem, where a set of parcels,…
This work considers the orthogonal frequency division multiple access (OFDMA) technology that enables multiple unmanned aerial vehicles (multi-UAV) communication systems to provide on-demand services. The main aim of this work is to derive…
Space exploration plans are becoming increasingly complex as public agencies and private companies target deep-space locations, such as cislunar space and beyond, which require long-duration missions and many supporting systems and…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
Mobile energy storage systems (MESSs) provide promising solutions to enhance distribution system resilience in terms of mobility and flexibility. This paper proposes a rolling integrated service restoration strategy to minimize the total…
In this work we propose a decomposition approach to solve the quay crane scheduling problem. This is an important maritime transportation problem faced in container terminals where quay cranes are used to handle cargo. The objective is to…
In this study, a novel coordinative scheduling optimization approach is proposed to enhance port efficiency by reducing average wait time and turnaround time. The proposed approach consists of enhanced particle swarm optimization (ePSO) as…
This paper introduces a landing guidance strategy for reusable launch vehicles (RLVs) using a model predictive approach based on sequential convex programming (SCP). The proposed approach devises two distinct optimal control problems…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
We consider a multiple depot, multiple vehicle routing problem with fuel constraints. We are given a set of targets, a set of depots and a set of homogeneous vehicles, one for each depot. The depots are also allowed to act as refueling…