Related papers: A Quick Response Algorithm for Dynamic Autonomous …
We propose an approach based on machine learning to solve two-stage linear adaptive robust optimization (ARO) problems with binary here-and-now variables and polyhedral uncertainty sets. We encode the optimal here-and-now decisions, the…
Advance reservation is important to guarantee the quality of services of jobs by allowing exclusive access to resources over a defined time interval on resources. It is a challenge for the scheduler to organize available resources…
Recently, a trend is emerging toward human-servicing autonomous mobile robots, with diverse applications including delivery of supplies in hospitals, hotels, or labs where personnel are scarce, or reacting to indoor emergencies. However,…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
We study the problem of servicing a set of ride requests by dispatching a set of shared vehicles, which is faced by ridesharing companies such as Uber and Lyft. Solving this problem at a large scale might be crucial in the future for…
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 explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. During the search, RT-FMT quickly looks…
Autonomous mobile robots (AMRs) are increasingly used to automate operations in intralogistics. One crucial feature of AMRs is their availability, allowing them to operate 24/7. This work addresses the multibay unit load pre-marshalling…
We study the earliest arrival problem in road networks with static time-dependent functions as arc weights. We propose and evaluate the following simple algorithm: (1) average the travel time in k time windows, (2) compute a shortest…
Autonomous parking technology is a key concept within autonomous driving research. This paper will propose an imaginative autonomous parking algorithm to solve issues concerned with parking. The proposed algorithm consists of three parts:…
We propose two distributionally robust optimization (DRO) models for a mobile facility (MF) fleet sizing, routing, and scheduling problem (MFRSP) with time-dependent and random demand, as well as methodologies for solving these models.…
We propose a two phase time dependent vehicle routing and scheduling optimization model that identifies the safest routes, as a substitute for the classical objectives given in the literature such as shortest distance or travel time,…
Dynamic vehicle routing problems (DVRPs) arise in several applications such as technician routing, meal delivery, and parcel shipping. We consider the DVRP with stochastic customer requests (DVRPSR), in which vehicles must be routed…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…
Express companies are deploying more robotic sorting systems, where mobile robots are used to sort incoming parcels by destination. In this study, we propose an integrated assignment and path-finding method for robots in such sorting…
Transportation occupies one-third of the amount in the logistics costs, and accordingly transportation systems largely influence the performance of the logistics system. This work presents an adaptive data-driven innovative modular approach…
The task allocation problem in multi-robot systems (MRTA) is an NP-hard problem whose viable solutions are usually found by heuristic algorithms. Considering the increasing need of improvement on logistics, the use of robots for increasing…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…