Related papers: Actuator Placement for Structural Controllability …
This paper considers the optimal multi-agent persistent monitoring problem defined for a team of agents on a set of nodes (targets) interconnected according to a fixed network topology. The aim is to control this team so as to minimize a…
To cope with the high level of ambiguity faced in domains such as Computer Vision or Natural Language processing, robust prediction methods often search for a diverse set of high-quality candidate solutions or proposals. In structured…
In this paper, given a linear time-invariant strongly connected network, we study the problem of determining the minimum number of state variables that need to be simultaneously actuated and measured to ensure structural controllability and…
This paper focuses on investigating the optimal actuator location for achieving minimum norm controls in the context of approximate controllability for degenerate parabolic equations. We propose a formulation of the optimization problem…
Designing distributed algorithms for multi-agent problems is vital for many emerging application domains, and game-theoretic approaches are emerging as a useful paradigm to design such algorithms. However, much of the emphasis of the…
Robotic pick-and-place (PnP) operations on moving conveyors find a wide range of industrial applications. In practice, simple greedy heuristics (e.g., prioritization based on the time to process a single object) are applied that achieve…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
We consider the optimal coverage problem where a multi-agent network is deployed in an environment with obstacles to maximize a joint event detection probability. The objective function of this problem is non-convex and no global optimum is…
Despite recent progress in our understanding of complex dynamic networks, it remains challenging to devisesufficiently accurate models to observe, control or predict the state of real systems in biology, economics or other fields. A largely…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…
Actuator location and design are important choices in controller design for distributed parameter systems. Semi-linear partial differential equations model a wide spectrum of physical systems with distributed parameters. It is shown that…
This study deals with the problem of task and motion planning of autonomous systems within the context of high-level tasks. Specifically, a task comprises logical requirements (conjunctions, disjunctions, and negations) on the trajectories…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
This paper is about minimum cost constrained selection of inputs and outputs for generic arbitrary pole placement. The input-output set is constrained in the sense that the set of states that each input can influence and the set of states…
We study Matching and other related problems in a partial information setting where the agents' utilities for being matched to other agents are hidden and the mechanism only has access to ordinal preference information. Our model is…
Influence maximization is the problem of finding the set of nodes of a network that maximizes the size of the outbreak of a spreading process occurring on the network. Solutions to this problem are important for strategic decisions in…
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…
Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…
We study the worst-case adaptive optimization problem with budget constraint that is useful for modeling various practical applications in artificial intelligence and machine learning. We investigate the near-optimality of greedy algorithms…
Consider an online facility assignment problem where a set of facilities $F = \{ f_1, f_2, f_3, \cdots, f_{|F|} \}$ of equal capacity $l$ is situated on a metric space and customers arrive one by one in an online manner on that space. We…