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We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
Optimal strategies for local quantum metrology -- including the preparation of optimal probe states, implementation of optimal control and measurement strategies, are well established. However, for distributed quantum metrology, where the…
We consider a team of mobile autonomous robots with the aim to cover a given set of targets. Each robot aims to select a target to cover and physically reach it by the final time in coordination with other robots given the locations of…
Ride-pooling, which accommodates multiple passenger requests in a single trip, has the potential to significantly increase fleet utilization in shared mobility platforms. The ride-pooling assignment problem finds optimal co-riders to…
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…
Terrestrial robots, i.e., unmanned ground vehicles (UGVs), and aerial robots, i.e., unmanned aerial vehicles (UAVs), operate in separate spaces. To exploit their complementary features (e.g., fields of views, communication links, computing…
Important applications in robotic and sensor networks require distributed algorithms to solve the so-called relative localization problem: a node-indexed vector has to be reconstructed from measurements of differences between neighbor…
The use of autonomous vehicles for target localization in modern applications has emphasized their superior efficiency, improved safety, and cost advantages over human-operated methods. For localization tasks, autonomous vehicles can be…
This study presents a distributed gradient-based approach to solve system optimal dynamic traffic assignment (SODTA) formulated based on the cell transmission model. The algorithm distributes SODTA into local sub-problems, who find optimal…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
Recent advances in label assignment in object detection mainly seek to independently define positive/negative training samples for each ground-truth (gt) object. In this paper, we innovatively revisit the label assignment from a global…
For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a specified objective and satisfy whatever constraints exist in…
With the recent advances in autonomous driving and the decreasing cost of LiDARs, the use of multimodal sensor systems is on the rise. However, in order to make use of the information provided by a variety of complimentary sensors, it is…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
WEAVE is the new wide-field spectroscopic facility for the prime focus of the William Herschel Telescope in La Palma, Spain. Its fibre positioner is essential for the accurate placement of the spectrograph's ~960-fibre multiplex. To…
Swarm intelligence optimization algorithms can be adopted in swarm robotics for target searching tasks in a 2-D or 3-D space by treating the target signal strength as fitness values. Many current works in the literature have achieved good…