Related papers: Path Planning and Task Assignment for Data Retriev…
Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where…
It is crucial to efficiently execute instructions such as "Find an apple and a banana" or "Get ready for a field trip," which require searching for multiple objects or understanding context-dependent commands. This study addresses the…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
In this paper, a non-iterative spatio-temporal multi-task assignment approach is used for playing piano music by a team of robots. This paper considers the piano playing problem, in which an algorithm needs to compute the trajectories for a…
This paper considers the problem of assigning multiple mobile robots to goals on transport networks with uncertain information about travel times. Our aim is to produce optimal assignments, such that the average waiting time at destinations…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
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 describes a software-based tool that tracks mobile node roaming and infers the time-to-handover as well as the preferential handover target, based on behavior inference solely derived from regular usage data captured in visited…
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…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…
We consider the problem of walking in an unknown street, for a robot that has a minimal sensing capability. The robot is equipped with a sensor that only detects the discontinuities in depth information (gaps) and can locate the target…
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…
We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move.…
In this paper, we present a novel problem of optimal placement of sensor nodes in wirelessly rechargeable Wireless Sensor Networks (WSNs) wrt. a charging requirement constraint and a task utility requirement constraint. We call this problem…
When does a robot planner need a map? Reactive methods that use only the robot's current sensor data and local information are fast and flexible, but prone to getting stuck in local minima. Is there a middle-ground between fully reactive…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
Heterogeneous wireless networks with wireless devices supporting multitude of radio access technologies are witnessing increasing interest from network providers and consumers alike. Energy efficiency in such networks has become an…
We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…