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We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. Our robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete…
In this paper, we propose new techniques for solving geometric optimization problems involving interpoint distances of a point set in the plane. Given a set $P$ of $n$ points in the plane and an integer $1 \leq k \leq \binom{n}{2}$, the…
The coordination among drones and ground vehicles for last-mile delivery has gained significant interest in recent years. In this paper, we study \textit{multiple drone delivery scheduling problem(MDSP) \cite{Betti_ICDCN22} for last-mile…
When robots handle navigation tasks while avoiding collisions, they perform in crowded and complex environments not as good as in stable and homogeneous environments. This often results in a low success rate and poor efficiency. Therefore,…
In this paper, we consider the multichannel rendezvous problem in cognitive radio networks (CRNs) where the probability that two users hopping on the same channel have a successful rendezvous is a function of channel states. The channel…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Round Robin (RR) Algorithm is considered as optimal in time shared environment because the static time is equally shared among the processes. If the time quantum taken is static then it undergoes degradation of the CPU performance and leads…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. In the proposed centralized multi-robot planner, a simultaneous matching and routing problem (SMRP) is…
In the gathering problem, n autonomous robots have to meet on a single point. We consider the gathering of a closed chain of point-shaped, anonymous robots on a grid. The robots only have local knowledge about a constant number of…
In this paper, a new fast algorithm for path planning and a collision prediction framework for two dimensional dynamically changing environments are introduced. The method is called Time Distance (TD) and benefits from the space-time space…
In the Traveling Salesperson Problem (TSP) we are given a list of locations and the distances between each pair of them. The goal is to find the shortest possible tour that visits each location exactly once and returns to the starting…
In this paper, we consider the gathering problem of seven autonomous mobile robots on triangular grids. The gathering problem requires that, starting from any connected initial configuration where a subgraph induced by all robot nodes…
Finding schedules for pairwise meetings between the members of a complex social group without creating interpersonal conflict is challenging, especially when different relationships have different needs. We formally define and study the…
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,…
Reinforcement Learning (RL) is increasingly applied to large-scale decision-making problems like logistics, scheduling, and recommender systems, but existing algorithms struggle with the curse of dimensionality in such large discrete action…
Image retrieval (IR) has emerged as a promising approach for self-localization in unmanned aerial vehicles (UAVs). However, IR-based methods face several challenges: 1) Pre- and post-processing incur significant computational and storage…
In this paper, we consider the problem of Multi-Robot Path Planning (MRPP) in continuous space. The difficulty of the problem arises from the extremely large search space caused by the combinatorial nature of the problem and the continuous…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
Deep Reinforcement Learning (DRL) is hugely successful due to the availability of realistic simulated environments. However, performance degradation during simulation to real-world transfer still remains a challenging problem for the…