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Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
Autonomous microgrid planning is a Mixed-Integer Non Convex decision problem that requires to consider investments in both distribution and generation capacity and represents significant computation challenges. We proposed in a previous…
Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have…
In recent years, the complexity and scale of embedded systems, especially in the rapidly developing field of autonomous driving systems, have increased significantly. This has led to the adoption of software and hardware approaches such as…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
In large-scale networks of uncertain dynamical systems, where communication is limited and there is a strong interaction among subsystems, learning local models and control policies offers great potential for designing high-performance…
Robotic systems lack a principled abstraction for organizing intelligence, capabilities, and execution in a unified manner. Existing approaches either couple skills within monolithic architectures or decompose functionality into loosely…
Nowadays there are more and more items available online, this makes it hard for users to find items that they like. Recommender systems aim to find the item who best suits the user, using his historical interactions. Depending on the…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However,…
Distributed computing systems often consist of hundreds of nodes, executing tasks with different resource requirements. Efficient resource provisioning and task scheduling in such systems are non-trivial and require close monitoring and…
Driven by the recent improvements in device and networks capabilities, Extended Reality (XR) is becoming more pervasive; industry and academia alike envision ambitious projects such as the metaverse. However, XR is still limited by the…
In parking lots with large groups of electric vehicles (EVs), charging has to happen in a coordinated manner, among others, due to the high load per vehicle and the limited capacity of the electricity grid. To achieve such coordination,…
Dockless e-scooters, a key micromobility service, have emerged as eco-friendly and flexible urban transport alternatives. These services improve first and last-mile connectivity, reduce congestion and emissions, and complement public…
While foundation models offer promise toward improving robot safety in out-of-distribution (OOD) scenarios, how to effectively harness their generalist knowledge for real-time, dynamically feasible response remains a crucial problem. We…
Nowadays, the use of embedded operating systems in different embedded projects is subject to a tremendous growth. Embedded Linux is becoming one of those most popular EOSs due to its modularity, efficiency, reliability, and cost. One way to…
In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…
Perceiving and understanding highly dynamic and changing environments is a crucial capability for robot autonomy. While large strides have been made towards developing dynamic SLAM approaches that estimate the robot pose accurately, a…
We present a novel framework for distributionally robust optimization (DRO), called cost-aware DRO (CADRO). The key idea of CADRO is to exploit the cost structure in the design of the ambiguity set to reduce conservatism. Particularly, the…
Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series of international agreements, have further catalyzed this…