Related papers: Relay-Based Coordination for Energy-Efficient Mult…
This paper proposes a coordinated energy-mobility dispatch framework for grid support service provision in smart cities under time constraints. In particular, a scenario in which a distributed system operator requests a specified amount of…
Mobile robot path planning methods are often constrained by vast search spaces, resulting in latency in samplingbased algorithms. Learning-based approaches frequently suffer from local region fragmentation and global topological…
This paper considers a class of deploy and search strategies for multi-robot systems and evaluates their performance. The application framework used is a system of autonomous mobile robots equipped with required sensors and communication…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…
We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…
We consider stochastic motion planning in single-source single-destination robotic relay networks, under a cooperative beamforming framework. Assuming that the communication medium constitutes a spatiotemporal stochastic field, we propose a…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
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…
Relaying is an effective technique to achieve reliable wireless connectivity in harsh communication environment. However, most of the existing relaying schemes are based on relays with fixed locations, or \emph{static relaying}. In this…
Robotic bin packing is widely deployed in warehouse automation, with current systems achieving robust performance through heuristic and learning-based strategies. These systems must balance compact placement with rapid execution, where…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plans its path and shares this information with a centralized…
This paper presents a hierarchical two-stage framework for multi-robot task allocation and trajectory optimization in asymmetric task spaces: (1) a sequential auction allocates tasks using closed-form bid functions, and (2) each robot…
In this paper, an energy-efficient cross-layer design framework is proposed for cooperative relaying networks, which takes into account the influence of spectrum utilization probability. Specifically, random arrival traffic is considered…
Next-generation networks aim to provide performance guarantees to real-time interactive services that require timely and cost-efficient packet delivery. In this context, the goal is to reliably deliver packets with strict deadlines imposed…
The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-based planners like the Rapidly-Exploring Random Tree (RRT)…
The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…
We consider the broadcast relay channel (BRC), where a single source transmits to multiple destinations with the help of a relay, in the limit of a large bandwidth. We address the problem of optimal relay positioning and power allocations…
This paper proposes a bi-level optimization framework to coordinate Automated Guided Vehicle (AGV) flexible operations in smart independent warehouses, addressing the critical challenge of balancing high-throughput order fulfillment with…