Related papers: Exhaustive-Serve-Longest Control for Multi-robot S…
Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…
The problem of enhancing Quality-of-Service (QoS) in power constrained, mobile relay beamforming networks, by optimally and dynamically controlling the motion of the relaying nodes, is considered, in a dynamic channel environment. We assume…
We consider a wireless system with a small number of delay constrained users and a larger number of users without delay constraints. We develop a scheduling algorithm that reacts to time varying channels and maximizes throughput utility (to…
Large Language Models (LLMs) such as GPT-4 and Llama3 can already comprehend complex commands and process diverse tasks. This advancement facilitates their application in controlling drones and robots for various tasks. However, existing…
We consider two-stage tandem queueing systems with one dedicated server in each station and a flexible server that can serve both stations. We assume exponential service times, linear holding costs accrued by jobs present in the system, and…
We study the design of dynamic scheduling controls in closed queueing networks with a fixed number of jobs. Each time a server becomes available, the controller has (limited) flexibility in choosing the buffer from which to serve a job. If…
This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks specified by Linear Temporal Logic (LTL)…
We develop a new algorithm for scheduling the charging process of a large number of electric vehicles (EVs) over a finite horizon. We assume that EVs arrive at the charging stations with different charge levels and different flexibility…
In ridepooling systems with electric fleets, charging is a complex decision-making process. Most electric vehicle (EV) taxi services require drivers to make egoistic decisions, leading to decentralized ad-hoc charging strategies. The…
Ride-hailing platforms face the challenge of balancing passenger waiting times with overall system efficiency under highly uncertain supply-demand conditions. Adaptive delayed matching, which controls the holding intervals for batched sets…
Motivated by health care systems with repeated services that have both personnel (nurse and physician) and space (beds) constraints, we study a restricted version of the Erlang-R model. The space restriction policies we consider are…
This paper addresses the online motion planning problem of mobile robots under complex high-level tasks. The robot motion is modeled as an uncertain Markov Decision Process (MDP) due to limited initial knowledge, while the task is specified…
The proliferation of ride sharing systems is a major drive in the advancement of autonomous and electric vehicle technologies. This paper considers the joint routing, battery charging, and pricing problem faced by a profit-maximizing…
This paper describes a new scheduling algorithm to distribute jobs in server farm systems. The proposed algorithm overcomes the starvation caused by SRPT (Shortest Remaining Processing Time). This algorithm is used in process scheduling in…
Cloud Robotics is helping to create a new generation of robots that leverage the nearly unlimited resources of large data centers (i.e., the cloud), overcoming the limitations imposed by on-board resources. Different processing power,…
This paper presents a heavy-traffic analysis of the behavior of a single-server queue under an Earliest-Deadline-First (EDF) scheduling policy in which customers have deadlines and are served only until their deadlines elapse. The…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
As various city agencies and mobility operators navigate toward innovative mobility solutions, there is a need for strategic flexibility in well-timed investment decisions in the design and timing of mobility service regions, i.e. cast as…
Cloud computing environments often have to deal with random-arrival computational workloads that vary in resource requirements and demand high Quality of Service (QoS) obligations. It is typical that a Service-Level-Agreement (SLA) is…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…