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The automation of data collection via mobile robots holds promise for increasing the efficacy of environmental investigations, but requires the system to autonomously determine how to sample the environment while avoiding obstacles.…
We introduce a variant of the capacitated vehicle routing problem that is encountered in sensor networks for scientific data collection. Consider an undirected graph $G=(V \cup \{\mathbf{sink}\},E)$. Each vertex $v \in V$ holds a…
In this paper, we address two main topics. First, we study the problem of minimizing the sum of a smooth function and the composition of a weakly convex function with a linear operator on a closed vector subspace. For this problem, we…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…
We study the load balanced capacitated vehicle routing problem (LBCVRP): the problem is to design a collection of tours for a fixed fleet of vehicles with capacity Q to distribute a supply from a single depot between a number of predefined…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
We are given a set of sensors at given locations, a set of potential locations for placing base stations (BSs, or sinks), and another set of potential locations for placing wireless relay nodes. There is a cost for placing a BS and a cost…
In this paper, we propose first a mmWave channel tracking algorithm based on multidimensional orthogonal matching pursuit algorithm (MOMP) using reduced sparsifying dictionaries, which exploits information from channel estimates in previous…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…
In this paper, we present an efficient massively parallel approximation algorithm for the $k$-means problem. Specifically, we provide an MPC algorithm that computes a constant-factor approximation to an arbitrary $k$-means instance in…
Sparse Subspace Clustering (SSC) is one of the most popular methods for clustering data points into their underlying subspaces. However, SSC may suffer from heavy computational burden. Orthogonal Matching Pursuit applied on SSC accelerates…
This paper focuses on a class of inclusion problems of maximal monotone operators in a multi-agent network, where each agent is characterized by an operator that is not available to any other agents, but the agents can cooperate by…
Compressed sensing (CS) schemes are proposed for monostatic as well as synthetic aperture radar (SAR) imaging with chirped signals and Ultra-Narrowband (UNB) continuous waveforms. In particular, a simple, perturbation method is developed to…
Usage of mobile sink(s) for data gathering in wireless sensor networks(WSNs) improves the performance of WSNs in many respects such as power consumption, lifetime, etc. In some applications, the mobile sink $MS$ travels along a predefined…
This paper studies line planning for urban bus networks that face multiple resource limits such as budget, labor, and emission caps while using heterogeneous fleets. The objective is to maximize total reward from serving passengers by…
The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. Using mobile robots for gas detection has several advantages and can reduce danger for humans.…
In energy-constrained wireless sensor networks (WSNs), maximizing the data collection using mobile sink(s) with minimum energy consumption is one of the practical challenging issues. In this article, we consider the problem of efficient…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
Many automated manufacturing processes rely on industrial robot arms to move process-specific tools along workpiece surfaces. In applications like grinding, sanding, spray painting, or inspection, they need to cover a workpiece fully while…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…