Related papers: Robust Composition of Drone Delivery Services unde…
Autonomous Mobility-on-Demand (AMoD) services offer an opportunity for improving passenger service while reducing pollution and energy consumption through effective vehicle coordination. A primary challenge in the autonomous fleets…
An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, making precise control challenging. Existing model-based…
Drones have recently emerged as a faster, safer, and cost-efficient way for last-mile deliveries of parcels, particularly for urgent medical deliveries highlighted during the pandemic. This paper addresses a new challenge of multi-parcel…
This paper considers safe robot mission planning in uncertain dynamical environments. This problem arises in applications such as surveillance, emergency rescue, and autonomous driving. It is a challenging problem due to modeling and…
Ensuring energy feasibility under wind uncertainty is critical for the safety and reliability of UAV delivery missions. In realistic truck-drone logistics systems, UAVs must deliver parcels and safely return under time-varying wind…
This paper investigates the optimal infrastructure planning and order assignment problem of an on-demand food-delivery platform with a mixed fleet of drones and human couriers. The platform has two delivery modes: (a) ground delivery and…
This paper proposes a novel freight multimodal transport problem with buses and drones, where buses are responsible for transporting parcels to lockers at bus stops for storage, while drones are used to deliver each parcel from the locker…
We develop a novel framework for efficiently and effectively discovering crowdsourced services that move in close proximity to a user over a period of time. We introduce a moving crowdsourced service model which is modelled as a moving…
Optimizing the design of complex systems requires navigating interdependent decisions, heterogeneous components, and multiple objectives. Our monotone theory of co-design offers a compositional framework for addressing this challenge,…
Providing first aid and other supplies (e.g., epi-pens, medical supplies, dry food, water) during and after a disaster is always challenging. The complexity of these operations increases when the transportation, power, and communications…
The Flying Sidekick Traveling Salesman Problem (FSTSP) considers a delivery system composed by a truck and a drone. The drone launches from the truck with a single package to deliver to a customer. Each drone must return to the truck to…
We study an edge demand response problem where, based on historical edge workload demands, an edge provider needs to dispatch moving computing units, e.g. truck-carried modular data centers, in response to emerging hotspots within service…
This paper presents an approach for learning motion planners that are accompanied with probabilistic guarantees of success on new environments that hold uniformly for any disturbance to the robot's dynamics within an admissible set. We…
This paper develops a framework that models and optimizes the operations of complex on-orbit servicing infrastructures involving one or more servicers and orbital depots to provide multiple types of services to a fleet of geostationary…
Drone susceptibility to jamming or spoofing attacks of GPS, RF, Wi-Fi, and operator signals presents a danger to future medical delivery systems. A detection framework capable of sensing attacks on drones could provide the capability for…
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
Modern processing networks often consist of heterogeneous servers with widely varying capabilities, and process job flows with complex structure and requirements. A major challenge in designing efficient scheduling policies in these…
Given a fleet of drones with different speeds and a set of package delivery requests, the collaborative delivery problem asks for a schedule for the drones to collaboratively carry out all package deliveries, with the objective of…
Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal…
Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position, or with respect to external disturbances. Current approaches…