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In various scenarios such as multi-drone surveillance and search-and-rescue operations, deploying multiple robots is essential to accomplish multiple tasks at once. Due to the limited communication range of these vehicles, a decentralised…
With the wide penetration of smart robots in multifarious fields, Simultaneous Localization and Mapping (SLAM) technique in robotics has attracted growing attention in the community. Yet collaborating SLAM over multiple robots still remains…
Task allocation has been a well studied problem. In most prior problem formulations, it is assumed that each task is associated with a unique set of resource requirements. In the scope of multi-robot task allocation problem, these…
The emerging technology of the Autonomous Truck Mounted Attenuator (ATMA), a leader-follower style vehicle system, utilizes connected and automated vehicle capabilities to enhance safety during transportation infrastructure maintenance in…
One aspect of the ever-growing need for long term autonomy of multi-robot systems, is ensuring energy sufficiency. In particular, in scenarios where charging facilities are limited, battery-powered robots need to coordinate to share access.…
Coverage Path Planning (CPP) is a fundamental capability for agricultural robots; however, existing solutions often overlook energy constraints, resulting in incomplete operations in large-scale or resource-limited environments. This paper…
Simulated annealing (SA) is a well-known algorithm for solving combinatorial optimization problems. However, the computation time of SA increases rapidly, as the size of the problem grows. Recently, a stochastic simulated annealing (SSA)…
In this paper we develop optimal algorithms in the binary-forking model for a variety of fundamental problems, including sorting, semisorting, list ranking, tree contraction, range minima, and ordered set union, intersection and difference.…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
We present the details of the numerical realization of the recently advanced algorithm developed to identify the fragmentation in heavy ion reactions. This new algorithm is based on the Simulated Annealing method and is dubbed as Simulated…
In many multi-robot applications, mobile worker robots are often engaged in performing some tasks repetitively by following pre-computed trajectories. As these robots are battery-powered, they need to get recharged at regular intervals. We…
This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…
Simulated annealing (SA) method has had significant recent success in designing distributed control algorithms for wireless networks. These SA based techniques formed the basis of new CSMA algorithms and gave rise to the development of…
We consider algorithms for load balancing on unreliable machines. The objective is to optimize the two criteria of minimizing the makespan and minimizing job reassignments in response to machine failures. We assume that the set of jobs is…
Task and Motion Planning (TAMP) algorithms solve long-horizon robotics tasks by integrating task planning with motion planning; the task planner proposes a sequence of actions towards a goal state and the motion planner verifies whether…
Task offloading to mobile edge computing (MEC) has emerged as a key technology to alleviate the computation workloads of mobile devices and decrease service latency for the computation-intensive applications. Device battery consumption is…
Attention-based Transformers have revolutionized natural language processing (NLP) and shown strong performance in computer vision (CV) tasks. However, as the input sequence varies, the computational bottlenecks in Transformer models…
This paper develops a scheduling protocol for a team of autonomous robots that operate on long-term persistent tasks. The proposed framework, called meSch, accounts for the limited battery capacity of the robots and ensures that the robots…
In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…
We study the labeled multi-robot path planning problem in continuous 2D and 3D domains in the absence of obstacles where robots must not collide with each other. For an arbitrary number of robots in arbitrary initial and goal arrangements,…