Related papers: Misaka: Interactive Swarm Testbed for Smart Grid D…
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…
On-demand ride services or ride-sourcing services have been experiencing fast development in the past decade. Various mathematical models and optimization algorithms have been developed to help ride-sourcing platforms design operational…
Simulating and validating coordination among multiple autonomous vehicles remains challenging, as many existing simulation architectures are limited to single-vehicle operation or rely on centralized control. This paper presents the…
Living labs have been established across different countries to evaluate how the interaction between humans and buildings can be optimized to improve comfort, health, and energy savings. However, existing living labs can be too…
We introduce a scalable algorithm, MUCCA, for multiclass node classification in weighted graphs. Unlike previously proposed methods for the same task, MUCCA works in time linear in the number of nodes. Our approach is based on a…
It is common practice in molecular dynamics and Monte Carlo computer simulations to run multiple, separately-initialized simulations in order to improve the sampling of independent microstates. Here we examine the utility of an extreme case…
Distributed resource allocation is a central task in network systems such as smart grids, water distribution networks, and urban transportation systems. When solving such problems in practice it is often important to have nonasymptotic…
Autonomous swarms of robots can bring robustness, scalability and adaptability to safety-critical tasks such as search and rescue but their application is still very limited. Using semi-autonomous swarms with human control can bring robot…
The availability of powerful microprocessors and high-speed networks as commodity components has enabled high performance computing on distributed systems (wide-area cluster computing). In this environment, as the resources are usually…
Swarms of autonomous devices are increasing in ubiquity and size. There are two main trains of thought for controlling devices in such swarms; centralized and distributed control. Centralized platforms achieve higher output quality but…
Uncrewed aerial vehicle (UAV) swarms are pivotal in the applications such as disaster relief, aerial base station (BS) and logistics transportation. These scenarios require the capabilities in accurate sensing, efficient communication and…
This paper presents a powerful swarm intelligence meta-heuristic optimization algorithm called Dynamic Cat Swarm Optimization. The formulation is through modifying the existing Cat Swarm Optimization. The original Cat Swarm Optimization…
Small-size robots offer access to spaces that are inaccessible to larger ones. This type of access is crucial in applications such as drug delivery, environmental detection, and collection of small samples. However, there are some tasks…
The versatility of humanoid robots in locomotion, full-body motion, interaction with unmodified human environments, and intuitive human-robot interaction led to increased research interest. Multiple smaller platforms are available for…
We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual-inertial SLAM libraries (e.g., ORB-SLAM, VINS- Mono, OKVIS,…
The robustness of distributed optimization is an emerging field of study, motivated by various applications of distributed optimization including distributed machine learning, distributed sensing, and swarm robotics. With the rapid…
To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have…
This paper presents the design of a research platform for autonomous driving applications, the Delft's Autonomous-driving Robotic Testbed (DART). Our goal was to design a small-scale car-like robot equipped with all the hardware needed for…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
Minimax designs provide a uniform coverage of a design space $\mathcal{X} \subseteq \mathbb{R}^p$ by minimizing the maximum distance from any point in this space to its nearest design point. Although minimax designs have many useful…