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Robotic manipulation and navigation are fundamental capabilities of embodied intelligence, enabling effective robot interactions with the physical world. Achieving these capabilities requires a cohesive understanding of the environment,…
We study the performance of a best reply algorithm for online resource allocation problems with a diseconomy of scale. In an online resource allocation problem, we are given a set of resources and a set of requests that arrive in an online…
This work creates a model of the value of different external viewpoints of a robot performing tasks. The current state of the practice is to use a teleoperated assistant robot to provide a view of a task being performed by a primary robot;…
Reinforcement learning (RL) is a general and well-known method that a robot can use to learn an optimal control policy to solve a particular task. We would like to build a versatile robot that can learn multiple tasks, but using RL for each…
Agricultural environments present high proportions of spatially dense navigation bottlenecks for long-term navigation and operational planning of agricultural mobile robots. The existing agent-centric multi-robot path planning (MRPP)…
To achieve the requirement of high data rate, low latency, user fairness for next generation wireless networks, proper designing of cross-layer optimized dynamic resource allocation algorithm is prerequisite. In this paper, we propose a…
Autonomous multi-agent systems such as hospital robots and package delivery drones often operate in highly uncertain environments and are expected to achieve complex temporal task objectives while ensuring safety. While learning-based…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
Connectivity and coverage are two crucial problems for wireless sensor networks. Several studies have focused on proposing solutions for improving and adjusting the initial deployment of a wireless sensor network to meet these two criteria.…
An autonomous robot should be able to evaluate the affordances that are offered by a given situation. Here we address this problem by designing a system that can densely predict affordances given only a single 2D RGB image. This is achieved…
Many state-of-the-art algorithms for solving hard combinatorial problems in artificial intelligence (AI) include elements of stochasticity that lead to high variations in runtime, even for a fixed problem instance. Knowledge about the…
Robots performing tasks in warehouses provide the first example of wide-spread adoption of autonomous vehicles in transportation and logistics. The efficiency of these operations, which can vary widely in practice, are a key factor in the…
A two-user downlink network aided by a reconfigurable intelligent surface is considered. The weighted sum signal to interference plus noise ratio maximization and the sum rate maximization models are presented, where the precoding vectors…
This paper develops a distributed algorithm for rate allocation in wireless networks that achieves the same throughput region as optimal centralized algorithms. This cross-layer algorithm jointly performs medium access control (MAC) and…
While individual robots are becoming increasingly capable, with new sensors and actuators, the complexity of expected missions increased exponentially in comparison. To cope with this complexity, heterogeneous teams of robots have become a…
We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to…
Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…
Service Function Chaining (SFC) is a crucial technology for future Internet. It aims to overcome the limitation of current deployment models which is rigid and static. Application of this technology relies on algorithms that can optimally…
Resonant Beam Charging (RBC) is the Wireless Power Transfer (WPT) technology, which can provide high-power, long-distance, mobile, and safe wireless charging for Internet of Things (IoT) devices. Supporting multiple IoT devices charging…
A novel intelligent reflecting surface (IRS)-aided multi-robot network is proposed, where multiple mobile wheeled robots are served by an access point (AP) through non-orthogonal multiple access (NOMA). The goal is to maximize the sum-rate…