Related papers: Redundant Robot Assignment on Graphs with Uncertai…
The design of mobile autonomous robots is challenging due to the limited on-board resources such as processing power and energy. A promising approach is to generate intelligent schedules that reduce the resource consumption while…
In this work, we study a single-machine scheduling problem that aims at minimizing the total cost of a schedule subject to start-time dependent costs. This framework naturally captures scenarios where costs fluctuate throughout the day,…
This paper addresses task-allocation problems with uncertainty in situational awareness for distributed autonomous robots (DARs). The uncertainty propagation over a task-allocation process is done by using the Unscented transform that uses…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
Many state-of-the-art algorithms for solving hard combinatorial problems in artificial intelligence (AI) include elements of stochasticity that lead to high variations in runtime, even for a fixed problem instance. Knowledge about the…
Following [21, 23], the present work investigates a new relative entropy-regularized algorithm for solving the optimal transport on a graph problem within the randomized shortest paths formalism. More precisely, a unit flow is injected into…
In the edge computing paradigm, mobile devices offload the computational tasks to an edge server by routing the required data over the wireless network. The full potential of edge computing becomes realized only if a smart device selects…
This paper introduces an energy-efficient, software-defined vehicular edge network for the growing intelligent connected transportation system. A joint user-centric virtual cell formation and resource allocation problem is investigated to…
Automated guided vehicles (AGVs) are widely used in various industries, and scheduling and routing them in a conflict-free manner is crucial to their efficient operation. We propose a loop-based algorithm that solves the online,…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
We introduce and study the Joint Task Assistance Planning problem which generalizes prior work on optimizing assistance in robotic collaboration. In this setting, two robots operate over predefined roadmaps, each represented as a graph…
Efficient utilization of cooperating robots in the assembly of aircraft structures relies on balancing the workload of the robots and ensuring collision-free scheduling. We cast this problem as that of allocating a large number of…
Control of systems of automated guided vehicles involves action planning at many levels. For efficient control of these systems, accurate estimation of cost parameters (speed, energy, task completion performance, \textit{et~cetera} is…
In this paper, we consider the problem of recovering a graph that represents the statistical data dependency among nodes for a set of data samples generated by nodes, which provides the basic structure to perform an inference task, such as…
An integration of distributionally robust risk allocation into sampling-based motion planning algorithms for robots operating in uncertain environments is proposed. We perform non-uniform risk allocation by decomposing the distributionally…
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 study an edge demand response problem where, based on historical edge workload demands, an edge provider needs to dispatch moving computing units, e.g. truck-carried modular data centers, in response to emerging hotspots within service…
Consider oriented graph nodes requiring periodic visits by a service agent. The agent moves among the nodes and receives a payoff for each completed service task, depending on the time elapsed since the previous visit to a node. We consider…
The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal…
Resiliency plays a critical role in designing future communication networks. How to make edge computing systems resilient against unpredictable failures and fluctuating demand is an important and challenging problem. To this end, this paper…