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Path planning in high-dimensional spaces poses significant challenges, particularly in achieving both time efficiency and a fair success rate. To address these issues, we introduce a novel path-planning algorithm, Zonal RL-RRT, that…
The problem of optimizing a sequence of tasks for a robot, also known as multi-point manufacturing, is a well-studied problem. Many of these solutions use a variant of the Traveling Salesman Problem (TSP) and seek to find the minimum…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…
Wireless power transfer (WPT) is a promising technology to prolong the lifetime of the sensors and communication devices, i.e., workers, in completing crowdsourcing tasks by providing continuous and cost-effective energy supplies. In this…
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
We study the allocation of reconfigurable intelligent surfaces (RISs) in a multi-cell wireless network, where base stations compete for control of shared RIS units deployed at the cell edges. These RISs, provided by an independent operator,…
We provide a communication- and computation-efficient method for distributed submodular optimization in robot mesh networks. Submodularity is a property of diminishing returns that arises in active information gathering such as mapping,…
In many domains such as transportation and logistics, search and rescue, or cooperative surveillance, tasks are pending to be allocated with the consideration of possible execution uncertainties. Existing task coordination algorithms either…
This paper introduces a traffic engineering routing algorithm that aims to accept as many routing demands as possible on the condition that a certain amount of bandwidth resource is reserved for each accepted demand. The novel idea is to…
We study dynamic multi-robot task allocation under uncertain task completion, time-window constraints, and incomplete information. Tasks arrive online over a finite horizon and must be completed within specified deadlines, while agents…
A properly designed handoff algorithm is essential in reducing the connection quality deterioration when a mobile node moves across the cell boundaries. Therefore, to improve communication quality, we identified three goals in our paper.…
This paper presents a collection of path planning algorithms for real-time movement of multiple robots across a Robotic Mobile Fulfillment System (RMFS). Robots are assigned to move storage units to pickers at working stations instead of…
Multi-Robot Task Allocation (MRTA) is the problem of distributing a set of tasks to a team of robots with the objective of optimising some criteria, such as minimising the amount of time or energy spent to complete all the tasks or…
Autonomous robots are increasingly deployed to estimate spatiotemporal fields (e.g., wind, temperature, gas concentration) that vary across space and time. We consider environments divided into non-overlapping regions with distinct spatial…
Reconfigurable Smart Surface (RSS) is assumed to be a key enabler for future wireless communication systems due to its ability to control the wireless propagation environment and, thus, enhance communications quality. Although optimal and…
To operate with limited sensor horizons in unpredictable environments, autonomous robots use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while creating the next plan. However, creating safe,…
We study the strategic decision-making problem of assigning time windows to customers in the context of vehicle routing applications that are affected by operational uncertainty. This problem, known as the Time Window Assignment Vehicle…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…