Related papers: Asynchronous Behavior Trees with Memory aimed at A…
As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion is not solely dependent on consistent motion generation but…
MAPF is a core coordination problem for large robot fleets in automated warehouses and logistics. Existing approaches are typically either open-loop planners, which generate fixed trajectories and struggle to handle disturbances, or…
Hierarchical coordination of controllers often uses symbolic state representations that fully abstract their underlying low-level controllers, treating them as "black boxes" to the symbolic action abstraction. This paper proposes a…
In this paper, we present Asynchronous implementation of Deep Neural Network-based Model Reference Adaptive Control (DMRAC). We evaluate this new neuro-adaptive control architecture through flight tests on a small quadcopter. We demonstrate…
Emerging workloads, such as graph processing and machine learning are approximate because of the scale of data involved and the stochastic nature of the underlying algorithms. These algorithms are often distributed over multiple machines…
Synchronization problems of continuous and discrete singularly perturbed systems are studied in this paper with singular perturbations and time scales (SPaTS) technique. The dynamics of leader and followers are decomposed into pure-slow and…
A mobile robot system consists of anonymous mobile robots, each of which autonomously performs sensing, computation, and movement according to a common algorithm, so that the robots collectively achieve a given task. There are two main…
With distributed computing and mobile applications, synchronizing diverging replicas of data structures is a more and more common problem. We use algebraic methods to reason about filesystem operations, and introduce a simplified definition…
This paper presents a consensus-based formation control strategy for autonomous agents moving in the plane with continuous-time single integrator dynamics. In order to save wireless resources (bandwidth, energy, etc), the designed…
The rise of AI-native Low-Code/No-Code (LCNC) platforms enables autonomous agents capable of executing complex, long-duration business processes. However, a fundamental challenge remains: memory management. As agents operate over extended…
Fast and accurate optimization and simulation is widely becoming a necessity for large scale transmission resiliency and planning studies such as N-1 SCOPF, batch contingency solvers, and stochastic power flow. Current commercial tools,…
We present an extension of Monte Carlo Tree Search (MCTS) that strongly increases its efficiency for trees with asymmetry and/or loops. Asymmetric termination of search trees introduces a type of uncertainty for which the standard upper…
This paper explores the benefits of computing arborescent trajectories (trajectory-trees) instead of commonly used sequential trajectories for partially observable robotic planning problems. In such environments, a robot infers knowledge…
We present a synchronization algorithm to let nodes in a sensor network simultaneously execute a task at a given point in time. In contrast to other time synchronization algorithms we do not provide a global time basis that is shared on all…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
Behavior Trees (BTs) are high level controllers that have found use in a wide range of robotics tasks. As they grow in popularity and usage, it is crucial to ensure that the appropriate tools and methods are available for ensuring they work…
Parallel programmers face the often irreconcilable goals of programmability and performance. HPC systems use distributed memory for scalability, thereby sacrificing the programmability advantages of shared memory programming models.…
A Robotic Mobile Fulfillment System is a robotised parts-to-picker system that is particularly well-suited for e-commerce warehousing. One distinguishing feature of this type of warehouse is its high storage modularity. Numerous robots are…
ASYNC is a framework that supports the implementation of asynchrony and history for optimization methods on distributed computing platforms. The popularity of asynchronous optimization methods has increased in distributed machine learning.…
Algorithms that use hardware transactional memory (HTM) must provide a software-only fallback path to guarantee progress. The design of the fallback path can have a profound impact on performance. If the fallback path is allowed to run…