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Fog nodes in the vicinity of IoT devices are promising to provision low latency services by offloading tasks from IoT devices to them. Mobile IoT is composed by mobile IoT devices such as vehicles, wearable devices and smartphones. Owing to…
With the rapid advancement of devices requiring intensive computation, such as Internet of Things (IoT) devices, smart sensors, and wearable technology, the computational demands on individual platforms with limited resources have…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
We study the problem of minimizing the resource capacity of autonomous agents cooperating to achieve a shared task. More specifically, we consider high-level planning for a team of homogeneous agents that operate under resource constraints…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
In this paper, we demonstrate a formulation for optimizing coupled submodular maximization problems with provable sub-optimality bounds. In robotics applications, it is quite common that optimization problems are coupled with one another…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
High-level autonomy requires discrete and continuous reasoning to decide both what actions to take and how to execute them. Integrated Task and Motion Planning (TMP) algorithms solve these hybrid problems jointly to consider constraints…
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
In this study, we explore the application of game theory, in particular Stackelberg games, to address the issue of effective coordination strategy generation for heterogeneous robots with one-way communication. To that end, focusing on the…
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…
Spatial-temporal graph representations play a crucial role in urban sensing applications, including traffic analysis, human mobility behavior modeling, and citywide crime prediction. However, a key challenge lies in the noisy and sparse…
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,…
Interactive graph search leverages human intelligence to categorize target labels in a hierarchy, which are useful for image classification, product categorization, and database search. However, many existing studies of interactive graph…
Autonomous multi-agent systems such as hospital robots and package delivery drones often operate in highly uncertain environments and are expected to achieve complex temporal task objectives while ensuring safety. While learning-based…
Task allocation using a team or coalition of robots is one of the most important problems in robotics, computer science, operational research, and artificial intelligence. In recent work, research has focused on handling complex objectives…
As the number of Internet of Things (IoT) devices keeps increasing, data is required to be communicated and processed by these devices at unprecedented rates. Cooperation among wireless devices by exploiting Device-to-Device (D2D)…
The rapid development of the mobile Internet and the Internet of Things is leading to a diversification of user devices and the emergence of new mobile applications on a regular basis. Such applications include those that are…
Effective human-human and human-autonomy teamwork is critical but often challenging to perfect. The challenge is particularly relevant in time-critical domains, such as healthcare and disaster response, where the time pressures can make…