Related papers: Relay-Based Coordination for Energy-Efficient Mult…
This work addresses the collaborative multi-robot autonomous online exploration problem, particularly focusing on distributed exploration planning for dynamically balanced exploration area partition and task allocation among a team of…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Efficiently solving a vehicle routing problem (VRP) in a practical runtime is a critical challenge for delivery management companies. This paper explores both a theoretical and experimental connection between the Capacitated Vehicle Routing…
We consider a system with a single base station communicating with multiple users over orthogonal channels while being assisted by multiple relays. Several recent works have suggested that, in such a scenario, selection, i.e., a single…
In this work, we approach the problem of resource allocation in a team of agents through the framework of Centroidal Voronoi Tessellations. CVTs provide a natural way to embed a desired global trend in the team through probability…
With the growing penetration of electric trucks, freight transportation is transitioning toward a mixed system comprising both fuel-powered and electric trucks. Enhancing truck platoon formation in such a heterogeneous environment presents…
Joint parcel delivery by trucks and drones has enjoyed significant attention for some time, as the advantages of one delivery method offset the disadvantages of the other. This paper focuses on the vehicle routing problem with drones and…
We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of…
Rearranging objects in cluttered tabletop environments remains a long-standing challenge in robotics. Classical planners often generate inefficient, high-cost plans by shuffling objects individually and using fixed buffers--temporary spaces…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based…
Decentralized coordination for multi-robot systems involves planning in challenging, high-dimensional spaces. The planning problem is particularly challenging in the presence of obstacles and different sources of uncertainty such as…
The Ride-Pool Matching Problem (RMP) is central to on-demand ride-pooling services, where vehicles must be matched with multiple requests while adhering to service constraints such as pickup delays, detour limits, and vehicle capacity. Most…
Benefiting from the fusion of communication and intelligent technologies, network-enabled robots have become important to support future machine-assisted and unmanned applications. To provide high-quality services for robots in wide areas,…
In this paper, we propose a distributed coordinated constrained task execution (C2TE) algorithm that enables a team of vehicles from different lanes to cooperatively merge into an {\it ordering-flexible platoon} maneuvering on the desired…
In this paper, a cooperative protocol is investigated for a multi-hop network consisting of relays with buffers of finite size, which may operate in different communication modes. The protocol is based on the myopic decode-and-forward…
A vehicle routing and crew scheduling problem (VRCSP) consists of simultaneously planning the routes of a fleet of vehicles and scheduling the crews, where the vehicle-crew correspondence is not fixed through time. This allows a greater…
We investigate the relay selection problem for a decode and forward collaborative network. Users are able to collaborate; decode messages of each other, re-encode and forward along with their own messages. We study the performance obtained…
The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…