Related papers: Base Placement Optimization for Coverage Mobile Ma…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achieve high efficiency by exploring the common areas where a…
Given a set of objects with durations (jobs) that cover a base region, can we schedule the jobs to maximize the duration the original region remains covered? We call this problem the sensor cover problem. This problem arises in the context…
Mobile manipulation planning commonly adopts a decoupled approach that performs planning separately on the base and the manipulator. While this approach is fast, it can generate sub-optimal paths. Another direction is a coupled approach…
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…
Nowadays, hybrid cloud platforms stand as an attractive solution for organizations intending to implement combined private and public cloud applications, in order to meet their profitability requirements. However, this can only be achieved…
This paper proposes a new robust optimization (RO) formulation namely the RO under objective functional uncertainty (ObRO). The ObRO adopts a min-max structure where the inner problem finds the worst-case objective function in a continuous…
The Ride-Pool Matching Problem (RMP) is central to on-demand ride-pooling services, where vehicles must be matched with multiple requests while adhering to service constraints such as pickup delays, detour limits, and vehicle capacity. Most…
Vision-based robotic cloth unfolding has made great progress recently. However, prior works predominantly rely on value learning and have not fully explored policy-based techniques. Recently, the success of reinforcement learning on the…
Recently, as the demand for cleaning robots has steadily increased, therefore household electricity consumption is also increasing. To solve this electricity consumption issue, the problem of efficient path planning for cleaning robot has…
Deciding which sensing capabilities to deploy on an agent in uncertain domains is a fundamental engineering challenge, in which one balances task achievability against the high costs of hardware and processing. This problem has previously…
Before beginning any robot task, users must position the robot's base, a task that now depends entirely on user intuition. While slight perturbation is tolerable for robots with moveable bases, correcting the problem is imperative for…
The Bin Packing Problem (BPP) has attracted enthusiastic research interest recently, owing to widespread applications in logistics and warehousing environments. It is truly essential to optimize the bin packing to enable more objects to be…
Informed and robust decision making in the face of uncertainty is critical for robots that perform physical tasks alongside people. We formulate this as Bayesian Reinforcement Learning over latent Markov Decision Processes (MDPs). While…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
In wireless communication systems, mmWave beam tracking is a critical task that affects both sensing and communications, as it is related to the knowledge of the wireless channel. We consider a setup in which a Base Station (BS) needs to…
This paper addresses the challenge of planning a sequence of tasks to be performed by multiple robots while minimizing the overall completion time subject to timing and precedence constraints. Our approach uses the Timed Partial Orders…
In the recent paper \cite{BDT10} we introduced a new problem that we call Bin Packing/Covering with Delivery, or BP/CD for short. Mainly we mean under this expression that we look for not only a good, but a "good and fast" packing or…
Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited.…
In many applications, a mobile manipulator robot is required to grasp a set of objects distributed in space. This may not be feasible from a single base pose and the robot must plan the sequence of base poses for grasping all objects,…