Related papers: The Correlated Arc Orienteering Problem
Integrating rule-based policies into reinforcement learning promises to improve data efficiency and generalization in cooperative pursuit problems. However, most implementations do not properly distinguish the influence of neighboring…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
When designing a motion planner for autonomous robots there are usually multiple objectives to be considered. However, a cost function that yields the desired trade-off between objectives is not easily obtainable. A common technique across…
The question of how "smart" active agents, like insects, microorganisms, or future colloidal robots need to steer to optimally reach or discover a target, such as an odor source, food, or a cancer cell in a complex environment has recently…
Qubit routing is a fundamental problem in quantum compilation, known to be NP-hard. Its dynamic nature makes local routing decisions propagate and compound over time, making global efficient solutions challenging. Existing heuristic methods…
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for climate-relevant robotics research, identifying high-impact…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
The field of Multi-Agent System (MAS) is an active area of research within Artificial Intelligence, with an increasingly important impact in industrial and other real-world applications. Within a MAS, autonomous agents interact to pursue…
We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we…
In the last years, a growing number of challenging applications in navigation, logistics, and tourism were modeled as orienteering problems. This problem has been proposed in relation to a sport race where certain control points must be…
In this paper, we aim at improving the tracking of road users in urban scenes. We present a constraint programming (CP) approach for the data association phase found in the tracking-by-detection paradigm of the multiple object tracking…
Many robotic tasks in real-world environments require physical interactions with an object such as pick up or push. For successful interactions, the robot needs to know the object's affordances, which are defined as the potential actions…
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to…
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…
In this paper, we look at the problem of finding the tour of maximum reward on an undirected graph where the reward is a submodular function, that has a curvature of $\kappa$, of the edges in the tour. This problem is known to be NP-hard.…
In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by…
Searching for optimal ways in a network is an important task in multiple application areas such as social networks, co-citation graphs or road networks. In the majority of applications, each edge in a network is associated with a certain…
The Capacitated Vehicle Routing Problem (CVRP) is an NP-optimization problem (NPO) that arises in various fields including transportation and logistics. The CVRP extends from the Vehicle Routing Problem (VRP), aiming to determine the most…
Uncrewed autonomous vehicles (UAVs) have made significant contributions to reconnaissance and surveillance missions in past US military campaigns. As the prevalence of UAVs increases, there has also been improvements in counter-UAV…
Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…