Related papers: ConfigBot: Adaptive Resource Allocation for Robot …
Resource allocation and task prioritisation are key problem domains in the fields of autonomous vehicles, networking, and cloud computing. The challenge in developing efficient and robust algorithms comes from the dynamic nature of these…
Recent advancements in AI and edge computing have accelerated the development of machine-centric applications (MCAs), such as smart surveillance systems. In these applications, video cameras and sensors offload inference tasks like license…
A dynamic autonomy allocation framework automatically shifts how much control lies with the human versus the robotics autonomy, for example based on factors such as environmental safety or user preference. To investigate the question of…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
Dynamic nature of the cloud environment has made distributed resource management process a challenge for cloud service providers. The importance of maintaining the quality of service in accordance with customer expectations as well as the…
Intelligent mobile robots are critical in several scenarios. However, as their computational resources are limited, mobile robots struggle to handle several tasks concurrently and yet guaranteeing real-timeliness. To address this challenge…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
The successful operation of mobile robots requires them to adapt rapidly to environmental changes. To develop an adaptive decision-making tool for mobile robots, we propose a novel algorithm that combines meta-reinforcement learning…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
With the increasing presence of social robots in various environments and applications, there is an increasing need for these robots to exhibit socially-compliant behaviors. Legible motion, characterized by the ability of a robot to clearly…
Optimization underpins many of the challenges that science and technology face on a daily basis. Recent years have witnessed a major shift from traditional optimization paradigms grounded on batch algorithms for medium-scale problems to…
In urban environments, supply resources have to be constantly matched to the "right" locations (where customer demand is present) so as to improve quality of life. For instance, ambulances have to be matched to base stations regularly so as…
Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…
Taking inspiration from how the brain coordinates multiple learning systems is an appealing strategy to endow robots with more flexibility. One of the expected advantages would be for robots to autonomously switch to the least costly system…
The interconnection network is a crucial subsystem in High-Performance Computing clusters and Data-centers, guaranteeing high bandwidth and low latency to the applications' communication operations. Unfortunately, congestion situations may…
There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, and hardware in the autonomy stack. Differentiable…
This 'research preview' paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding…
The potential impact of autonomous robots on everyday life is evident in emerging applications such as precision agriculture, search and rescue, and infrastructure inspection. However, such applications necessitate operation in unknown and…
To ensure uninterrupted services to the cloud clients from federated cloud providers, it is important to guarantee an efficient allocation of the cloud resources to users to improve the rate of client satisfaction and the quality of the…