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The estimation of inertial parameters of a robotic system is crucial for better trajectory tracking performance, specially when model-based controllers are used for carrying out precise tasks. In this paper, we consider the scenario of…
Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…
Transportation occupies one-third of the amount in the logistics costs, and accordingly transportation systems largely influence the performance of the logistics system. This work presents an adaptive data-driven innovative modular approach…
This paper proposes a metric for sets of trajectories to evaluate multi-object tracking algorithms that includes time-weighted costs for localisation errors of properly detected targets, for false targets, missed targets and track switches.…
This paper considers the problem of assigning multiple mobile robots to goals on transport networks with uncertain information about travel times. Our aim is to produce optimal assignments, such that the average waiting time at destinations…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
This paper presents a scalable solution with adjustable computation time for the joint problem of scheduling and assigning machines and transporters for missions that must be completed in a fixed order of operations across multiple stages.…
We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics…
The energy use of a robot is trajectory-dependent, and thus can be reduced by optimization of the trajectory. Current methods for robot trajectory optimization can reduce energy up to 15\% for fixed start and end points, however their use…
This paper establishes a novel analytical approach to quantify robustness of scheduling and battery management for battery supported cyber-physical systems. A dynamic schedulability test is introduced to determine whether tasks are…
Estimating and quantifying uncertainty in unknown system parameters from limited data remains a challenging inverse problem in a variety of real-world applications. While many approaches focus on estimating constant parameters, a subset of…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
Robots performing manipulation tasks must operate under uncertainty about both their pose and the dynamics of the system. In order to remain robust to modeling error and shifts in payload dynamics, agents must simultaneously perform…
Autonomous navigation in dynamic environment heavily depends on the environment and its topology. Prior knowledge of the environment is not usually accurate as the environment keeps evolving in time. Since robot is continuously evaluating…
Productive and efficient human-robot teaming is a highly desirable ability in service robots, yet there is a fundamental trade-off that a robot needs to consider in such tasks. On the one hand, gaining information from communication with…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
Any strategy used to distribute a robot ensemble over a set of sequential tasks is subject to inaccuracy due to robot-level uncertainties and environmental influences on the robots' behavior. We approach the problem of inaccuracy during…
Fuel cell electric vehicles have earned substantial attentions in recent decades due to their high-efficiency and zero-emission features, while the high operating costs remain the major barrier towards their large-scale commercialization.…
The ever increasing adoption of mobile devices with limited energy storage capacity, on the one hand, and more awareness of the environmental impact of massive data centres and server pools, on the other hand, have both led to an increased…