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Timely resource allocation in edge-assisted vehicular networks is essential for compute-intensive services such as autonomous driving and navigation. However, vehicle mobility leads to spatio-temporal unpredictability of resource demands,…
We study the problem of selecting a fleet of robots to service spatially distributed tasks with diverse requirements within time-windows. The problem of allocating tasks to a fleet of potentially heterogeneous robots and finding an optimal…
We consider the problem of dynamically allocating tasks to multiple agents under time window constraints and task completion uncertainty. Our objective is to minimize the number of unsuccessful tasks at the end of the operation horizon. We…
We consider the problem of warehouse multi-robot automation system in discrete-time and discrete-space configuration with focus on the task allocation and conflict-free path planning. We present a system design where a centralized server…
This paper studies a wireless network where multiple users cooperate with each other to improve the overall network performance. Our goal is to design an optimal distributed power allocation algorithm that enables user cooperation, in…
Randomized Greedy Algorithms (RGAs) are interesting approaches to solve problems whose structures are not well understood as well as problems in combinatorial optimization which incorporate the random processes and the greedy algorithms.…
This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…
In this paper, we study the multi-robot task assignment and path-finding problem (MRTAPF), where a number of agents are required to visit all given goal locations while avoiding collisions with each other. We propose a novel two-layer…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…
Grant-free random access (GFRA) is now a popular protocol for large-scale wireless multiple access systems in order to reduce control signaling. Resource allocation in GFRA can be viewed as a form of frame slotted ALOHA, where a ubiquitous…
This article presents an architecture for multi-agent task allocation and task execution, through the unification of a market-inspired task-auctioning system with Behavior Trees for managing and executing lower level behaviors. We consider…
In this paper, a learning-based optimal transportation algorithm for autonomous taxis and ridesharing vehicles is presented. The goal is to design a mechanism to solve the routing problem for multiple autonomous vehicles and multiple…
This paper deals with large-scale decentralised task allocation problems for multiple heterogeneous robots with monotone submodular objective functions. One of the significant challenges with the large-scale decentralised task allocation…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
We provide a framework for the assignment of multiple robots to goal locations, when robot travel times are uncertain. Our premise is that time is the most valuable asset in the system. Hence, we make use of redundant robots to counter the…
Our goal in this paper is to plan the motion of a robot in a partitioned environment with dynamically changing, locally sensed rewards. We assume that arbitrary assumptions on the reward dynamics can be given. The robot aims to accomplish a…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
Recent mobile equipment (as well as the norm IEEE 802.21) now offers the possibility for users to switch from one technology to another (vertical handover). This allows flexibility in resource assignments and, consequently, increases the…
The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…
This paper develops intelligent algorithms for robots to reorient objects. Given the initial and goal poses of an object, the proposed algorithms plan a sequence of robot poses and grasp configurations that reorient the object from its…