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Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
We study a smart grid with wind power and battery storage. Traditionally, day-ahead planning aims to balance demand and wind power, yet actual wind conditions often deviate from forecasts. Short-term flexibility in storage and generation…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
Recently significant progress has been made in vehicle prediction and planning algorithms for autonomous driving. However, it remains quite challenging for an autonomous vehicle to plan its trajectory in complex scenarios when it is…
The objective of this paper is to improve the accuracy and robustness of optimal power flow (OPF) formulations for distribution systems modeled down to the low-voltage point of connection of individual buildings. An approach for addressing…
Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…
A flooding attack in wireless sensor networks is a type of threat that shortens the lifetimes of the sensor networks. Although flooding attack prevention techniques have been proposed, if a continuous flooding attack occurs, the sensor node…
Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating…
In zone-based evacuation planning, the region to evacuate is divided into zones and each zone must be assigned a path to safety and departure times along the path. Zone-based evacuations are highly desirable in practice because they allow…
We consider the problem of efficient patrolling strategy adaptation in a changing environment where the topology of Defender's moves and the importance of guarded targets change unpredictably. The Defender must instantly switch to a new…
Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…
We study the design of scheduling logic and control logic for networked control systems (NCSs) where plants communicate with their remotely located controllers over a shared band-limited communication network. Due to a limited capacity of…
A technique for improving the prediction accuracy of decision trees is proposed. It consists in evaluating the tree's branches in parallel over multiple paths. The technique enables predictions that are more aligned with the ones generated…
This paper addresses the problem of steering an initial probability distribution to a target probability distribution through a deterministic or stochastic linear control system. Our proposed approach is inspired by the flow matching…
We consider the problem of uncertainty quantification for prediction in a time series: if we use past data to forecast the next time point, can we provide valid prediction intervals around our forecasts? To avoid placing distributional…
Mobile robots hold great promise in reducing the need for humans to perform jobs such as vacuuming, seeding,harvesting, painting, search and rescue, and inspection. In practice, these tasks must often be done without an exact map of the…
Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, these sampling-based planners can become computationally…
Modern agriculture faces escalating challenges: increasing demand for food, labor shortages, and the urgent need to reduce environmental impact. Agricultural robotics has emerged as a promising response to these pressures, enabling the…
The behavior of users in relatively predictable, both in terms of the data they request and the wireless channels they observe. In this paper, we consider the statistics of such predictable patterns of the demand and channel jointly across…
This note proposes a distributed model predictive control (DMPC) scheme with switched cost functions for a class of spatially interconnected systems with communication constraints. Non-iterative and parallel communication strategy is…