Related papers: Multi-Objective Graph Heuristic Search for Terrest…
In the realm of heterogeneous mixed autonomy, vehicles experience dynamic spatial correlations and nonlinear temporal interactions in a complex, non-Euclidean space. These complexities pose significant challenges to traditional…
In this paper, we develop a novel paradigm, namely hypergraph shift, to find robust graph modes by probabilistic voting strategy, which are semantically sound besides the self-cohesiveness requirement in forming graph modes. Unlike the…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
Multipartite entity resolution aims at integrating records from multiple datasets into one entity. We derive a mathematical formulation for a general class of record linkage problems in multipartite entity resolution across many datasets as…
Multi-objective optimizations are frequently encountered in engineering practices. The solution techniques and parametric selections however are usually problem-specific. In this study we formulate a reinforcement learning hyper-heuristic…
Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects…
In this paper the preliminary design of multiple gravity-assist trajectories is formulated as a global optimization problem. An analysis of the structure of the solution space reveals a strong multimodality, which is strictly dependent on…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
Many existing learning-based grasping approaches concentrate on a single embodiment, provide limited generalization to higher DoF end-effectors and cannot capture a diverse set of grasp modes. We tackle the problem of grasping using…
Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…
Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…
Identifying the graphical structure underlying the observed multivariate data is essential in numerous applications. Current methodologies are predominantly confined to deducing a singular graph under the presumption that the observed data…
Over the years, much research involving mobile computational entities has been performed. From modeling actual microscopic (and smaller) robots, to modeling software processes on a network, many important problems have been studied in this…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
This paper addresses the dimensional synthesis of an adaptive mechanism of contact points ie a leg mechanism of a piping inspection robot operating in an irradiated area as a nuclear power plant. This studied mechanism is the leading part…
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…
Correspondence identification (CoID) is an essential component for collaborative perception in multi-robot systems, such as connected autonomous vehicles. The goal of CoID is to identify the correspondence of objects observed by multiple…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…