Related papers: Optimization of Mobile Robotic Relay Operation for…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
We study distributed planning for multi-robot systems to provide optimal service to cooperative tasks that are distributed over space and time. Each task requires service by sufficiently many robots at the specified location within the…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
Consider a communication network with a source, a relay and a destination. Each time interval, the source may dynamically choose between a few possible coding schemes, based on the channel state, traffic pattern and its own queue status.…
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,…
Spurred by the growth of transportation network companies and increasing data capabilities, vehicle routing and ride-matching algorithms can improve the efficiency of private transportation services. However, existing routing solutions do…
In this paper we study a dynamic vehicle routing problem in which there are multiple vehicles and multiple classes of demands. Demands of each class arrive in the environment randomly over time and require a random amount of on-site service…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…
Autonomous ride-hailing platforms must strategically position idle robotaxis to minimize the wait times of prospective riders. We formalize this as the \emph{robotaxi placement problem} ($k$-RP). Given a finite metric space and a demand…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
We consider the broadcast relay channel (BRC), where a single source transmits to multiple destinations with the help of a relay, in the limit of a large bandwidth. We address the problem of optimal relay positioning and power allocations…
We present the optimal relay-subset selection and transmission-time for a decode-and-forward, half-duplex cooperative network of arbitrary size. The resource allocation is obtained by maximizing over the rates obtained for each possible…
In this paper, we investigate the resource allocation algorithm design for cooperative cognitive relaying multicarrier non-orthogonal multiple access (MC-NOMA) systems. In particular, the secondary base station serves multiple secondary…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
In this paper, a relay-aided two-phase transmission protocol for the smart factory scenario is proposed. This protocol aims at enabling all robots' ultra-reliable target number of uplink critical data transmission within a latency…
Sidewalk delivery robots are a promising solution for last-mile freight distribution. Yet, they operate in dynamic environments characterized by pedestrian flows and potential obstacles, which make travel times highly uncertain and can…
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…