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Remote state estimation, where sensors send their measurements of distributed dynamic plants to a remote estimator over shared wireless resources, is essential for mission-critical applications of Industry 4.0. Existing algorithms on…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
Relative localization is crucial for multi-robot systems to perform cooperative tasks, especially in GPS-denied environments. Current techniques for multi-robot relative localization rely on expensive or short-range sensors such as cameras…
Large robot fleets are now common in warehouses and other logistics settings, where small control gains translate into large operational impacts. In this article, we address task scheduling for lifelong Multi-Agent Pickup-and-Delivery…
In many applications such as rationing medical care and supplies, university admissions, and the assignment of public housing, the decision of who receives an allocation can be justified by various normative criteria. Such settings have…
This paper studies combined relay selection and opportunistic geographic routing strategies for autonomous wireless sensor networks where transmissions occur over multiple hops. The proposed solution is built upon three constituent parts:…
Faster and more cost-efficient, crowdsourced delivery is needed to meet the growing customer demands of many industries, including online shopping, on-demand local delivery, and on-demand transportation. The power of crowdsourced delivery…
Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the environment is quasi-static, i.e., it is sufficient to…
Algorithms for robotic visual search can benefit from the use of visual attention methods in order to reduce computational costs. Here, we describe how three distinct mechanisms of visual attention can be integrated and productively used to…
Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and…
The problem of optimally placing sensors under a cost constraint arises naturally in the design of industrial and commercial products, as well as in scientific experiments. We consider a relaxation of the full optimization formulation of…
We study a problem of multi-agent exploration with behaviorally heterogeneous robots. Each robot maps its surroundings using SLAM and identifies a set of areas of interest (AoIs) or frontiers that are the most informative to explore next.…
Mobile robots often have limited battery life and need to recharge periodically. This paper presents an RRT- based path-planning algorithm that addresses battery power management. A path is generated continuously from the robot's current…
In the vision of urban air mobility, air transport systems serve the demands of urban communities by routing flight traffic in networks formed by vertiports and flight corridors. We develop a routing algorithm to ensure that the air traffic…
Wireless networks are evolving from radio resource providers to complex systems that also involve computing, with the latter being distributed across edge and cloud facilities. Also, their optimization is shifting more and more from a…
We present a new algorithm for deploying passenger robots in marsupial robot systems. A marsupial robot system consists of a carrier robot (e.g., a ground vehicle), which is highly capable and has a long mission duration, and at least one…
Traffic routing is vital for the proper functioning of the Internet. As users and network traffic increase, researchers try to develop adaptive and intelligent routing algorithms that can fulfill various QoS requirements. Reinforcement…
Consider a team of agents in the plane searching for and visiting target points that appear in a bounded environment according to a stochastic renewal process with a known absolutely continuous spatial distribution. Agents must detect…
This paper proposes an online path planning and motion generation algorithm for heterogeneous robot teams performing target search in a real-world environment. Path selection for each robot is optimized using an information-theoretic…
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…