Related papers: Timeliness-Oriented Scheduling and Resource Alloca…
Time-Optimal Path Parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: Numerical Integration (NI) and Convex Optimization (CO). NI-based…
Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…
A key functionality of emerging connected autonomous systems such as smart transportation systems, smart cities, and the industrial Internet-of-Things, is the ability to process and learn from data collected at different physical locations.…
Task and motion planning (TAMP) algorithms aim to help robots achieve task-level goals, while maintaining motion-level feasibility. This paper focuses on TAMP domains that involve robot behaviors that take extended periods of time (e.g.,…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
Vehicle-to-Vehicle (V2V) technologies have great potential for enhancing traffic flow efficiency and safety. However, cooperative decision-making in multi-agent systems, particularly in complex human-machine mixed merging areas, remains…
Coordinated traffic signals seek to provide uninterrupted flow through a series of closely spaced intersections, typically using pre-defined fixed signal timings and offsets. Adaptive traffic signals dynamically change signal timings based…
Cooperative perception, offering a wider field of view than standalone perception, is becoming increasingly crucial in autonomous driving. This perception is enabled through vehicle-to-vehicle (V2V) communication, allowing connected…
We consider the problem of intelligent and efficient resource management framework in mobile edge computing (MEC), which can reduce delay and energy consumption, featuring distributed optimization and efficient congestion avoidance…
Current main memory database system architectures are still challenged by high contention workloads and this challenge will continue to grow as the number of cores in processors continues to increase. These systems schedule transactions…
The sensitivity of millimeter-wave (mmWave) radio channel to blockage is a fundamental challenge in achieving low-latency and ultra-reliable connectivity. In this paper, we explore the viability of using coordinated multi-point (CoMP)…
A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimization objectives. In particular, PTOPP is utilized to find…
Accuracy and timeliness are indeed often conflicting goals in prediction tasks. Premature predictions may yield a higher rate of false alarms, whereas delaying predictions to gather more information can render them too late to be useful. In…
Multi-agent collaborative perception could significantly upgrade the perception performance by enabling agents to share complementary information with each other through communication. It inevitably results in a fundamental trade-off…
Deep learning models in robotics often output point estimates with poorly calibrated confidences, offering no native mechanism to quantify predictive reliability under novel, noisy, or out-of-distribution inputs. Conformal prediction (CP)…
It will be increasingly common for robots to operate in cluttered human-centered environments such as homes, workplaces, and hospitals, where the robot is often tasked to maintain perception constraints, such as monitoring people or…
Cooperative perception significantly enhances scene understanding by integrating complementary information from diverse agents. However, existing research often overlooks critical challenges inherent in real-world multi-source data…
In intelligent transportation systems (ITS), adaptive transit signal priority (TSP) and dynamic bus control systems have been independently developed to maintain efficient and reliable urban bus services. However, those two systems could…
Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…