Related papers: Layered Cost-Map-Based Traffic Management for Mult…
Planning in environments with moving obstacles remains a significant challenge in robotics. While many works focus on navigation and path planning in obstacle-dense spaces, traversing such congested regions is often avoidable by selecting…
Traffic congestion is a serious problem in urban areas. Dynamic congestion pricing is one of the useful schemes to eliminate traffic congestion in strategic scale. However, in the reality, an optimal dynamic congestion pricing is very…
In this work we consider a multi-robot team operating in an unknown environment where one aerial agent is tasked to map the environment and transmit (a portion of) the mapped environment to a group of ground agents that are trying to reach…
We consider the problem of classifying a map using a team of communicating robots. It is assumed that all robots have localized visual sensing capabilities and can exchange their information with neighboring robots. Using a graph…
Rapid urbanization places increasing stress on already burdened transportation systems, resulting in delays and poor levels of service. Billions of spatiotemporal call detail records (CDRs) collected from mobile devices create new…
In this paper, we study the problem of distributed estimation with an emphasis on communication-efficiency. The proposed algorithm is based on a windowed maximum a posteriori (MAP) estimation problem, wherein each agent in the network…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and readily available LiDAR-based lifelong mapping for urban sites.…
This paper introduces an energy-efficient, software-defined vehicular edge network for the growing intelligent connected transportation system. A joint user-centric virtual cell formation and resource allocation problem is investigated to…
This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal…
This paper presents a distributed solution for the problem of collaborative collision avoidance for autonomous inland waterway ships. A two-layer collision avoidance framework that considers inland waterway traffic regulations is proposed…
In this paper, we introduce a unified framework for studying various cloud traffic management problems, ranging from geographical load balancing to backbone traffic engineering. We first abstract these real-world problems as a…
Sparse roadmaps are important to compactly represent state spaces, to determine problems to be infeasible and to terminate in finite time. However, sparse roadmaps do not scale well to high-dimensional planning problems. In prior work, we…
We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…
Collaborating teams of robots show promise due in their ability to complete missions more efficiently and with improved robustness, attributes that are particularly useful for systems operating in marine environments. A key issue is how to…
On-ramp merging is a challenging task for autonomous vehicles (AVs), especially in mixed traffic where AVs coexist with human-driven vehicles (HDVs). In this paper, we formulate the mixed-traffic highway on-ramp merging problem as a…
Autonomous mobile robot fleets must coordinate task allocation and charging under limited shared resources, yet most battery aware planning methods address only a single robot. This paper extends degradation cost aware task planning to a…
6G networks require a flexible infrastructure to dynamically provide ubiquitous network coverage. Mobile Access Points (MAP) deployment is a promising solution. In this paper, we formulate the joint 3D MAP deployment and user association…
Cooperative relays improve reliability and coverage in wireless networks by providing multiple paths for data transmission. Relaying will play an essential role in vehicular networks at higher frequency bands, where mobility and frequent…