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This paper presents an empirical performance analysis of three project scheduling algorithms dealing with maximizing projects' net present value with unrestricted resources. The selected algorithms, being the most recently cited in the…
In this work we present a technique to select the best robot for accomplishing a task assuming that the map of the environment is known in advance. To do so, capabilities of the robots are listed and the environments where they can be used…
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…
Routing in Software-Defined Wireless sensor networks (SD-WSNs) can be either single or multi-hop, whereas the network is either static or dynamic. In static SD-WSN, the selection of the optimum route from source to destination is…
While routing in wireless networks has been studied extensively, existing protocols are typically designed for a specific set of network conditions and so cannot accommodate any drastic changes in those conditions. For instance, protocols…
We consider the problem of finding a low-cost allocation and ordering of tasks between a team of robots in a d-dimensional, uncertain, landscape, and the sensitivity of this solution to changes in the cost function. Various algorithms have…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…
The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
In this paper, we propose a novel joint intelligent trajectory design and resource allocation algorithm based on user's mobility and their requested services for unmanned aerial vehicles (UAVs) assisted networks, where UAVs act as nodes of…
Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, enabling robots to estimate their position by tracking point…
In this paper, a novel framework is presented that achieves a combined solution based on Multi-Robot Task Allocation (MRTA) and collision avoidance with respect to homogeneous measurement tasks taking place in industrial environments. The…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
Although tremendous strides have been made in uncontrolled face detection, efficient face detection with a low computation cost as well as high precision remains an open challenge. In this paper, we point out that training data sampling and…
To operate in open-ended environments where humans interact in complex, diverse ways, autonomous robots must learn to predict their behaviour, especially when that behavior is potentially dangerous to other agents or to the robot. However,…
We explore how intermediate policy representations can facilitate generalization by providing guidance on how to perform manipulation tasks. Existing representations such as language, goal images, and trajectory sketches have been shown to…
This paper addresses the task allocation problem for multi-robot systems. The main issue with the task allocation problem is inherent complexity that makes finding an optimal solution within a reasonable time almost impossible. To hand the…
Traditional algorithms for robots who need to integrate into a wireless network often focus on one specific task. In this work we want to develop simple, adaptive and reusable algorithms for real world applications for this scenario.…
In this work we introduce the problem of task assistance planning where we are given two robots Rtask and Rassist. The first robot, Rtask, is in charge of performing a given task by executing a precomputed path. The second robot, Rassist,…