Related papers: Well-Connected Set and Its Application to Multi-Ro…
Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitate speed-dependent gait transitions (e.g., walk-trot-gallop…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
Algorithms for listing the subgraphs satisfying a given property (e.g.,being a clique, a cut, a cycle, etc.) fall within the general framework of set systems. A set system (U, F) uses a ground set U (e.g., the network nodes) and an…
To effectively process high volume of data across a fleet of dynamic and distributed vehicles, it is crucial to implement resource provisioning techniques that can provide reliable, cost-effective, and timely computing services. This…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
In this work, we leverage GPUs to construct probabilistically collision-free convex sets in robot configuration space on the fly. This extends the use of modern motion planning algorithms that leverage such representations to changing…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes…
When a large number of robots try to reach a common area, congestions happen, causing severe delays. To minimise congestion in a robotic swarm system, traffic control algorithms must be employed in a decentralised manner. Based on…
Many computations in robotics can be dramatically accelerated if the robot configuration space is described as a collection of simple sets. For example, recently developed motion planners rely on a convex decomposition of the free space to…
The double coverage problem focuses on determining efficient, collision-free routes for multiple robots to simultaneously cover linear features (e.g., surface cracks or road routes) and survey areas (e.g., parking lots or local regions) in…
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
The emerging beyond 5G and envisioned 6G wireless networks are considered as key enablers in supporting a diversified set of applications for industrial mobile robots (MRs). The scenario under investigation in this paper relates to mobile…
Given an undirected node-weighted graph, the Maximum-Weight Connected Subgraph problem (MWCS) is to identify a subset of nodes of maximalsum of weights that induce a connected subgraph. MWCS is closely related to the well-studied Prize…
The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…
The effective and safe management of traffic is a key issue due to the rapid advancement of the urban transportation system. Connected autonomous vehicles (CAVs) possess the capability to connect with each other and adjacent infrastructure,…
The graph identification problem consists of discovering the interactions among nodes in a network given their state/feature trajectories. This problem is challenging because the behavior of a node is coupled to all the other nodes by the…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…