Related papers: A Probabilistic Framework and a Homotopy Method fo…
Truck platooning is a promising technology that enables trucks to travel in formations with small inter-vehicle distances for improved aerodynamics and fuel economy. The real-world transportation system includes a vast number of trucks…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
We survey recent advances in algorithms for route planning in transportation networks. For road networks, we show that one can compute driving directions in milliseconds or less even at continental scale. A variety of techniques provide…
We introduce and show preliminary results of a fast randomized method that finds a set of K paths lying in distinct homotopy classes. We frame the path planning task as a graph search problem, where the navigation graph is based on a…
Markov Decision Processes (MDPs) have been used to formulate many decision-making problems in science and engineering. The objective is to synthesize the best decision (action selection) policies to maximize expected rewards (or minimize…
We consider a hub-based platoon coordination problem in which vehicles arrive at a hub according to an independent and identically distributed stochastic arrival process. The vehicles wait at the hub, and a platoon coordinator, at each…
In this paper, we consider the problem of link scheduling in multi-hop wireless networks under general interference constraints. Our goal is to design scheduling schemes that do not use per-flow or per-destination information, maintain a…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
This paper studies line planning for urban bus networks that face multiple resource limits such as budget, labor, and emission caps while using heterogeneous fleets. The objective is to maximize total reward from serving passengers by…
Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…
Dynamic low altitude networks offer significant potential for efficient and reliable data transport via unmanned aerial vehicles (UAVs) relays which usually operate with predetermined trajectories. However, it is challenging to optimize the…
Emerging applications in autonomy require control techniques that take into account uncertain environments, communication and sensing constraints, while satisfying highlevel mission specifications. Motivated by this need, we consider a…
This paper addresses the challenges of decision-making for autonomous vehicles under faults during a transport mission. A real-time decision-making problem of vehicle routing planning considering maintenance management is formulated as an…
The shift from private vehicles to public and shared transport is crucial to reducing emissions and meeting climate targets. Consequently, there is an urgent need to develop a multimodal transport trip planning approach that integrates…
We present an optimal mass transport framework on the space of Gaussian mixture models, which are widely used in statistical inference. Our method leads to a natural way to compare, interpolate and average Gaussian mixture models.…
We consider the transmission of packets across a lossy end-to-end network path so as to achieve low in-order delivery delay. This can be formulated as a decision problem, namely deciding whether the next packet to send should be an…
Assigning passenger trips to specific network paths using automatic fare collection (AFC) data is a fundamental application in urban transit analysis. The task is a difficult inverse problem: the only available information consists of each…
Preliminary low-thrust spacecraft mission design is a global search problem characterized by a complex solution landscape, multiple objectives, and numerous local minima. During this phase, mission parameters are often not yet fully…
We present a new algorithm for deploying passenger robots in marsupial robot systems. A marsupial robot system consists of a carrier robot (e.g., a ground vehicle), which is highly capable and has a long mission duration, and at least one…
Opportunistic routing is a multi-hop routing scheme which allows for selection of the best immediately available relay. In blind opportunistic routing protocols, where transmitters blindly broadcast without knowledge of the surrounding…