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Motion planning is a mature area of research in robotics with many well-established methods based on optimization or sampling the state space, suitable for solving kinematic motion planning. However, when dynamic motions under constraints…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
In Grids scheduling decisions are often made on the basis of jobs being either data or computation intensive: in data intensive situations jobs may be pushed to the data and in computation intensive situations data may be pulled to the…
Environmental disasters such as flash floods are becoming more and more prevalent and carry an increasing burden on human civilization. They are usually unpredictable, fast in development, and extend across large geographical areas. The…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
Heterogeneous systems commonly adopt dynamic scheduling algorithms to improve resource utilization and enhance scheduling flexibility. However, such flexibility may introduce timing anomalies, wherein locally reduced execution times can…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
Cloud computing provides engineers or scientists a place to run complex computing tasks. Finding a workflow's deployment configuration in a cloud environment is not easy. Traditional workflow scheduling algorithms were based on some…
This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission.…
Sense-react systems (e.g. robotics and AR/VR) have to take highly responsive real-time actions, driven by complex decisions involving a pipeline of sensing, perception, planning, and reaction tasks. These tasks must be scheduled on…
The main objective of this paper is to develop the two different ways in which round robin architecture is modified and made suitable to be implemented in real time and embedded systems. The scheduling algorithm plays a significant role in…
Efficient resource allocation and scheduling algorithms are essential for various distributed applications, ranging from wireless networks and cloud computing platforms to autonomous multi-agent systems and swarm robotic networks. However,…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
We address Multi-Robot Exploration and Relaying (MRER): a team of robots must explore an unknown environment and deliver acquired information to a fixed base station within a mission time limit. The central challenge is deciding when each…
A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…
Adaptive sampling and planning in robotic environmental monitoring are challenging when the target environmental process varies over space and time. The underlying environmental dynamics require the planning module to integrate future…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
Energy consumption is a critical design issue in real-time systems, especially in battery- operated systems. Maintaining high performance, while extending the battery life between charges is an interesting challenge for system designers.…