Related papers: Motion and Communication Co-optimization with Path…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
The paper describes results on two components of a research program focused on motion-based communication mediated by the dynamics of a control system. Specifically we are interested in how mobile agents engaged in a shared activity such as…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
Driven by the rapid growth of Internet of Things applications, tremendous data need to be collected by sensors and uploaded to the servers for further process. As a promising solution, mobile crowd sensing enables controllable sensing and…
This paper addresses the problem of collaborative navigation in an unknown environment, where two robots, referred to in the sequel as the Seeker and the Supporter, traverse the space simultaneously. The Supporter assists the Seeker by…
Quantum applications transmit and receive data through quantum and classical communication channels. Channel capacity, the distance and the photon path between transmitting and receiving parties and the speed of the computation links play…
This paper presents evolutionary methods for optimization in dynamic mobile robot path planning. In dynamic mobile path planning, the goal is to find an optimal feasible path from starting point to target point with various obstacles, as…
Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
In this letter, we consider a transportation network with a 100\% penetration rate of connected and automated vehicles (CAVs) and present an optimal routing approach that takes into account the efficiency achieved in the network by…
Multirotor unmanned aerial vehicle is a prevailing type of aerial robots with wide real-world applications. The energy efficiency of the robot is a critical aspect of its performance, determining the range and duration of the missions that…
Efficient planning in dynamic and uncertain environments is a fundamental challenge in robotics. In the context of trajectory optimization, the feasibility of paths can change as the environment evolves. Therefore, it can be beneficial to…
We investigate the distributed planning of robot trajectories for optimal execution of cooperative tasks with time windows. In this setting, each task has a value and is completed if sufficiently many robots are simultaneously present at…
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
In this paper, we propose a novel Adaptive Transmission Strategy to improve energy efficiency~(EE) in a wireless point-to-point transmission system with Quality of Service~(QoS) requirement, i.e., delay-outage probability considered. The…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…
Resource allocation is a fundamental problem in Industrial Internet of Things (IIoT) systems, in which devices work together under limited communication bandwidth to complete diverse tasks. This paper proposes a communication-efficient…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…