Related papers: Stochastic Collection and Replenishment (SCAR) Opt…

We introduce a sequential learning algorithm to address a robust controller tuning problem, which in effect, finds (with high probability) a candidate solution satisfying the internal performance constraint to a chance-constrained program…

Learning how to learn efficiently is a fundamental challenge for biological agents and a growing concern for artificial ones. To learn effectively, an agent must regulate its learning speed, balancing the benefits of rapid improvement…

Unmanned aerial vehicle (UAV)-assisted data collection has been emerging as a prominent application due to its flexibility, mobility, and low operational cost. However, under the dynamic and uncertainty of IoT data collection and energy…

We study a general stochastic ranking problem where an algorithm needs to adaptively select a sequence of elements so as to "cover" a random scenario (drawn from a known distribution) at minimum expected cost. The coverage of each scenario…

The development of vehicle controllers for autonomous racing is challenging because racing cars operate at their physical driving limit. Prompted by the demand for improved performance, autonomous racing research has seen the proliferation…

Task-oriented semantic parsing models have achieved strong results in recent years, but unfortunately do not strike an appealing balance between model size, runtime latency, and cross-domain generalizability. We tackle this problem by…

We consider the airplane refueling problem, where we have a fleet of airplanes that can refuel each other. Each airplane is characterized by specific fuel tank volume and fuel consumption rate, and the goal is to find a drop out order of…

This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…

Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…

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…

We study the labeled multi-robot path planning problem in continuous 2D and 3D domains in the absence of obstacles where robots must not collide with each other. For an arbitrary number of robots in arbitrary initial and goal arrangements,…

Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…

The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…

The past decade has seen a substantial increase in the use of small unmanned aerial vehicles (UAVs) in both civil and military applications. This article addresses an important aspect of refueling in the context of routing multiple small…

This article presents a deep reinforcement learning-based approach to tackle a persistent surveillance mission requiring a single unmanned aerial vehicle initially stationed at a depot with fuel or time-of-flight constraints to repeatedly…

We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a performance metric. We incorporate task-critical information, that is only available…

This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

We introduce a novel strategy for multi-robot sorting of waste objects using Reinforcement Learning. Our focus lies on finding optimal picking strategies that facilitate an effective coordination of a multi-robot system, subject to…

With the evolution of self-driving cars, autonomous racing series like Roborace and the Indy Autonomous Challenge are rapidly attracting growing attention. Researchers participating in these competitions hope to subsequently transfer their…