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We studied the effects of spatial configuration on collective dynamics in a nearest-neighbour and diffusively coupled lattice of heterogeneous nodes. The networks contained nodes from two populations, which differed in their intrinsic…
Building models, or maps, of robot environments is a highly active research area; however, most existing techniques construct unstructured maps and assume static environments. In this paper, we present an algorithm for learning object…
This paper presents a two-stage prediction-based control scheme for embedding the environment's geometric properties into a collision-free Pythagorean Hodograph spline, and subsequently finding the optimal path within the parameterized free…
A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this…
This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…
The city is a complex system that evolves through its inherent social and economic interactions. Mediating the movements of people and resources, urban street networks offer a spatial footprint of these activities; consequently their…
To improve the perception of hierarchical structures in data sets, several color map generation algorithms have been proposed to take this structure into account. But the design of hierarchical color maps elicits different requirements to…
Designing for sufficiency is one of many approaches that could foster more moderate and sustainable digital practices. Based on the Sustainable Information and Communication Technologies (ICT) and Human-Computer Interaction (HCI)…
Air pollution is a great concern because of its impact on human health and on the environment. Statistical models play an important role in improving knowledge of this complex spatio-temporal phenomenon and in supporting public agencies and…
Metapopulation models have been instrumental in demonstrating the ecological impact of landscape structure on the survival of a focal species in complex environments. However, extensions to multiple species with arbitrary dispersal networks…
One aspect of intelligence is the ability to restructure your own environment so that the world you live in becomes more beneficial to you. In this paper we investigate how the information-theoretic measure of agent empowerment can provide…
In most professional sports, the structure of the environment is kept neutral so that scoring imbalances may be attributed to differences in team skill. It thus remains unknown what impact structural heterogeneities can have on scoring…
Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…
Human behaviors, including scientific activities, are shaped by the hierarchical divisions of geography. As a result, researchers' mobility patterns vary across regions, influencing several aspects of the scientific community. These aspects…
We present the Goal Uncertain Stochastic Shortest Path (GUSSP) problem -- a general framework to model path planning and decision making in stochastic environments with goal uncertainty. The framework extends the stochastic shortest path…
The design of efficient transportation networks is an important challenge in many research areas. Among the most promising recent methods, biological routing mimic local rules found in nature. However comparisons with other methods are…
Motion planning in the configuration space (C-space) induces benefits, such as smooth trajectories. It becomes more complex as the degrees of freedom (DOF) increase. This is due to the direct relation between the dimensionality of the…
In human and animal groups, social interactions often rely on the transmission of information via visual observation of the behavior of others. These visual interactions are governed by the laws of physics and sensory limits. Individuals…
We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a…
Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…