Related papers: Redundant Robot Assignment on Graphs with Uncertai…
Increasing the degrees of freedom of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or interaction task does not fully determine its joint maneuvers.…
Modern networked systems are increasingly reconfigurable, enabling demand-aware infrastructures whose resources can be adjusted according to the workload they currently serve. Such dynamic adjustments can be exploited to improve network…
This paper analyzes different online algorithms for the problem of assigning weights to edges in a fully-connected bipartite graph that minimizes the overall cost while satisfying constraints. Edges in this graph may disappear and reappear…
Realistic path planning applications often require optimizing with respect to several criteria simultaneously. Here we introduce an efficient algorithm for bi-criteria path planning on graphs. Our approach is based on augmenting the state…
Coordinating the movement of multiple autonomous agents over a shared network is a fundamental challenge in algorithmic robotics, intelligent transportation, and distributed systems. The dominant approach, Multi-Agent Path Finding, relies…
We model and study the problem of assigning traffic in an urban road network infrastructure. In our model, each driver submits their intended destination and is assigned a route to follow that minimizes the social cost (i.e., travel…
In disaster response or surveillance operations, quickly identifying areas needing urgent attention is critical, but deploying response teams to every location is inefficient or often impossible. Effective performance in this domain…
We present a framework leveraging a novel variant of the model-based diffusion algorithm to minimize the time required for a redundant dual-arm robot configuration to follow a desired relative Cartesian path. Our prior work proposed a…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
Given an undirected graph G, the edge orientation problem asks for assigning a direction to each edge to convert G into a directed graph. The aim is to minimize the maximum out degree of a vertex in the resulting directed graph. This…
Today's robotic systems are increasingly turning to computationally expensive models such as deep neural networks (DNNs) for tasks like localization, perception, planning, and object detection. However, resource-constrained robots, like…
Modern machine learning workloads use large models, with complex structures, that are very expensive to execute. The devices that execute complex models are becoming increasingly heterogeneous as we see a flourishing of domain-specific…
The shortest path problem in graphs is a cornerstone of AI theory and applications. Existing algorithms generally ignore edge weight computation time. We present a generalized framework for weighted directed graphs, where edge weight can be…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
Distributed storage infrastructures require the use of data redundancy to achieve high data reliability. Unfortunately, the use of redundancy introduces storage and communication overheads, which can either reduce the overall storage…
The method of fragments was recently proposed, and its effectiveness has been empirically shown for three specialised pickup and delivery problems. We propose an enhanced fragment algorithm that for the first time, effectively solves the…
In this paper we consider a stochastic deployment problem, where a robotic swarm is tasked with the objective of positioning at least one robot at each of a set of pre-assigned targets while meeting a temporal deadline. Travel times and…
We consider a problem of placing generators of rewards to be collected by randomly moving agents in a network. In many settings, the precise mobility pattern may be one of several possible, based on parameters outside our control, such as…
Multi-robot task allocation (MRTA) problems involve optimizing the allocation of robots to tasks. MRTA problems are known to be challenging when tasks require multiple robots and the team is composed of heterogeneous robots. These…