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The significance of transportation efficiency, safety, and related services is increasing in urban vehicular networks. Within such networks, roadside units (RSUs) serve as intermediates in facilitating communication. Therefore, the…
We devise a new approximation algorithm for capacitated vehicle routing. Our algorithm yields a better approximation ratio for general capacitated vehicle routing as well as for the unit-demand case and the splittable variant. Our results…
We give a new randomized LP-rounding 1.725-approximation algorithm for the metric Fault-Tolerant Uncapacitated Facility Location problem. This improves on the previously best known 2.076-approximation algorithm of Swamy & Shmoys. To the…
We study the robust charging station location problem for a large-scale commercial taxi fleet. Vehicles within the fleet coordinate on charging operations but not on customer acquisition. We decide on a set of charging stations to open to…
This paper presents an efficient algorithm, naming Centralized Searching and Decentralized Optimization (CSDO), to find feasible solution for large-scale Multi-Vehicle Trajectory Planning (MVTP) problem. Due to the intractable growth of…
Heavy goods vehicles are vital backbones of the supply chain delivery system but also contribute significantly to carbon emissions with only 60% loading efficiency in the United Kingdom. Collaborative vehicle routing has been proposed as a…
Flocking behavior has attracted considerable attention in multi-agent systems. The structure of flocking has been predominantly studied through the application of artificial potential fields coupled with velocity consensus. These…
The goal of traffic management is efficiently utilizing network resources via adapting of source sending rates and routes selection. Traditionally, this problem is formulated into a utilization maximization problem. The single-path routing…
In this paper we propose an extension of the Uncapacitated Hub Location Problem where the potential positions of the hubs are not fixed in advance. Instead, they are allowed to belong to a region around an initial discrete set of nodes. We…
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…
We consider a family of Rich Vehicle Routing Problems (RVRP) which have the particularity to combine a heterogeneous fleet with other attributes, such as backhauls, multiple depots, split deliveries, site dependency, open routes, duration…
Multicopters with collision-resilient designs can operate with trajectories involving collisions. This paper presents a sampling-based method that can exploit collisions for better motion planning. The method is built upon the basis of the…
Urban land-use allocation represents a complex multi-objective optimization problem critical for sustainable urban development policy. This paper presents novel computational intelligence approaches for optimizing land-use allocation in…
The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…
In a variety of domains, from robotics to finance, Quality-Diversity algorithms have been used to generate collections of both diverse and high-performing solutions. Multi-Objective Quality-Diversity algorithms have emerged as a promising…
Robotic shepherding is a bio-inspired approach to autonomously guiding a swarm of agents towards a desired location. The research area has earned increasing research interest recently due to the efficacy of controlling a large number of…
In this paper we present a queueing network approach to the problem of routing and rebalancing a fleet of self-driving vehicles providing on-demand mobility within a capacitated road network. We refer to such systems as autonomous…
Problem definition: Motivated by global electrification targets and the advent of electric modular autonomous units (E-MAUs), this paper addresses a robust charging station location and routing-scheduling problem (E-RCRSP) in an inter-modal…
Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…