Related papers: Safety-Aware Optimal Scheduling for Autonomous Mas…
Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots. The method first assigns robots to goals to minimize total…
The deployment of mobile robots for material handling in industrial environments requires scalable coordination of large fleets in dynamic settings. This paper presents a two-layer framework that combines high-level scheduling with…
Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…
In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning…
Conducting nonlinear pushover analysis typically demands intricate and resource-intensive computational attempts, and involves a process that is highly iterative and necessary for satisfying design-defined and also requirements of codes in…
This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…
Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an…
Terrestrial robots, i.e., unmanned ground vehicles (UGVs), and aerial robots, i.e., unmanned aerial vehicles (UAVs), operate in separate spaces. To exploit their complementary features (e.g., fields of views, communication links, computing…
Efficient and safe trajectory planning plays a critical role in the application of quadrotor unmanned aerial vehicles. Currently, the inherent trade-off between constraint compliance and computational efficiency enhancement in UAV…
Efficient, collision-free motion planning is essential for automating large-scale manipulators like timber cranes. They come with unique challenges such as hydraulic actuation constraints and passive joints-factors that are seldom addressed…
The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewable sources of lift are sought. One…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…
Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
This paper investigates the optimization problem of scheduling autonomous mobile robots (AMRs) in hospital settings, considering dynamic requests with different priorities. The primary objective is to minimize the daily service cost by…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
Industrial timetabling is a critical task for decision-makers across various sectors to ensure efficient system operation. In real-world settings, it remains challenging because unexpected events often disrupt execution. When such events…
Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…