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Integrated task and motion planning has emerged as a challenging problem in sequential decision making, where a robot needs to compute high-level strategy and low-level motion plans for solving complex tasks. While high-level strategies…
We consider a family of Rich Vehicle Routing Problems (RVRP) which have the particularity to combine a heterogeneous fleet with other attributes, such as backhauls, multiple depots, split deliveries, site dependency, open routes, duration…
Power consumption is a critical consideration in high performance computing systems and it is becoming the limiting factor to build and operate Petascale and Exascale systems. When studying the power consumption of existing systems running…
This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…
Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…
Motivated by green manufacturing, this paper investigates a scheduling with rejection problem subject to an energy consumption constraint. Machines are associated with non-uniform energy consumption rates, defined as the energy consumed per…
Applying agrochemicals is the default procedure for conventional weed control in crop production, but has negative impacts on the environment. Robots have the potential to treat every plant in the field individually and thus can reduce the…
For robot swarms operating on complex missions in an uncertain environment, it is important that the decision-making algorithm considers both heterogeneity and uncertainty. This paper presents a stochastic programming framework for the…
Human-robot collaborative manufacturing, a core aspect of Industry 5.0, emphasizes ergonomics to enhance worker well-being. This paper addresses the dynamic human-robot task planning and allocation (HRTPA) problem, which involves…
This paper suggests leveraging reactive power potential (RPP) embedded in wind farms to improve power system operational safety and optimality. First, three typical RPP provision approaches are analyzed and a two-stage robust linear…
Reverse time migration (RTM) is an algorithm widely used in the oil and gas industry to process seismic data. It is a computationally intensive task that suits well in parallel computers. Methods such as RTM can be parallelized in shared…
Many modern robotic systems such as multi-robot systems and manipulators exhibit redundancy, a property owing to which they are capable of executing multiple tasks. This work proposes a novel method, based on the Reinforcement Learning (RL)…
This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. During the search, RT-FMT quickly looks…
Power System Resource Planning is the recurrent process of studying and determining what facilities and procedures should be provided to satisfy and promote appropriate future demands for electricity. The electric power system as planned…
Motivated by what is required for real-time path planning, the paper starts out by presenting sRMPD, a new recursive "local" planner founded on the key notion that, unless made necessary by an obstacle, there must be no deviation from the…
This paper presents RichMap, a high-precision reachability map representation designed to balance efficiency and flexibility for versatile robot manipulation tasks. By refining the classic grid-based structure, we propose a streamlined…
Long-term autonomy is one of the most demanded capabilities looked into a robot. The possibility to perform the same task over and over on a long temporal horizon, offering a high standard of reproducibility and robustness, is appealing.…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
As autonomous driving continues to advance, automated parking is becoming increasingly essential. However, significant challenges arise when implementing path velocity decomposition (PVD) trajectory planning for automated parking. The…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…