Related papers: Optimal Perimeter Guarding with Heterogeneous Robo…
We study the problem of selecting a fleet of robots to service spatially distributed tasks with diverse requirements within time-windows. The problem of allocating tasks to a fleet of potentially heterogeneous robots and finding an optimal…
Imagine we want to split a group of agents into teams in the most \emph{efficient} way, considering that each agent has their own preferences about their teammates. This scenario is modeled by the extensively studied \textsc{Coalition…
In search and surveillance applications in robotics, it is intuitive to spatially distribute robot trajectories with respect to the probability of locating targets in the domain. Ergodic coverage is one such approach to trajectory planning…
Numerous real-world applications of uncertain multiobjective optimization problems (UMOPs) can be found in science, engineering, business, and management. To handle the solution of uncertain optimization problems, robust optimization is a…
Numerous applications require algorithms that can align partially overlapping point sets while maintaining invariance to geometric transformations (e.g., similarity, affine, rigid). This paper introduces a novel global optimization method…
High-fidelity street scene reconstruction is pivotal for end-to-end autonomous driving simulation, where novel-view synthesis (NVS) and time-varying information modeling are two fundamental capabilities to facilitate closed-loop training.…
Orthogonality constraints are ubiquitous in robust and probabilistic machine learning. Unfortunately, current optimizers are computationally expensive and do not scale to problems with hundreds or thousands of constraints. One notable…
The VertexCover problem is proven to be computationally hard in different ways: It is NP-complete to find an optimal solution and even NP-hard to find an approximation with reasonable factors. In contrast, recent experiments suggest that on…
In a recent paper, Kuperberg described the first subexponential time algorithm for solving the dihedral hidden subgroup problem. The space requirement of his algorithm is super-polynomial. We describe a modified algorithm whose running time…
Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear…
Complex multi-objective missions require the coordination of heterogeneous robots at multiple inter-connected levels, such as coalition formation, scheduling, and motion planning. The associated challenges are exacerbated when solutions to…
The Team Orienteering Problem (TOP) generalizes many real-world multi-robot scheduling and routing tasks that occur in autonomous mobility, aerial logistics, and surveillance applications. While many flavors of the TOP exist for planning in…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper…
In this paper, we propose a coverage control system for a multi-robot team with heterogeneous capabilities to patrol or monitor a bounded environment. The capability could be defined as any criterion of robots like remaining power or mobile…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…
Consider a region that requires to be protected from unauthorized penetrations. The border of the region, modeled as a unit line segment, consists of high priority segments that require the highest level of protection separated by low…
We consider the problem of finding optimally stable polynomial approximations to the exponential for application to one-step integration of initial value ordinary and partial differential equations. The objective is to find the largest…