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Designing a network (e.g., a telecommunication or transport network) is mainly done offline, in a planning phase, prior to the operation of the network. On the other hand, a massive effort has been devoted to characterizing dynamic…

Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of…

We study a network design problem (NDP) where the planner aims at selecting the optimal single-link intervention on a transportation network to minimize the travel time under Wardrop equilibrium flows. Our first result is that, if the delay…

In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…

Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected…

Optimal transport on a graph focuses on finding the most efficient way to transfer resources from one distribution to another while considering the graph's structure. This paper introduces a new distributed algorithm that solves the optimal…

With an increasing need for more flexible mobility services, we consider an operational problem arising in the planning of Demand Adaptive Systems (DAS). Motivated by the decision of whether to accept or reject passenger requests in real…

Industrial surface defect detection (SDD) is critical for ensuring product quality and manufacturing reliability. Due to the diverse shapes and sizes of surface defects, SDD faces two main challenges: intraclass difference and interclass…

Now a days Vehicular Ad hoc Network is an emerging technology. Mobility management is one of the most challenging research issues for Vehicular Ad hoc Network to support variety of intelligent transportation system applications. Vehicular…

The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…

Sampling-based model predictive control (MPC) optimization methods, such as Model Predictive Path Integral (MPPI), have recently shown promising results in various robotic tasks. However, it might produce an infeasible trajectory when the…

We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…

Metropolitan scale vehicular traffic modeling is used by a variety of private and public sector urban mobility stakeholders to inform the design and operations of road networks. High-resolution stochastic traffic simulators are increasingly…

Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlocks frequently occur when multiple agents attempt to traverse…

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…

Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…

We propose a distributed algorithm, named Distributed Alternating Direction Method of Multipliers (D-ADMM), for solving separable optimization problems in networks of interconnected nodes or agents. In a separable optimization problem there…

In this paper, we present analytical study of routing overhead of reactive routing protocols for Wireless Multihop Networks (WMhNs). To accomplish the framework of generalized routing overhead, we choose Ad-Hoc on Demand Distance Vector…

In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…

Multi-Agent Pickup and Delivery (MAPD) is a fundamental problem in robotics, particularly in applications such as warehouse automation and logistics. Existing solutions often face challenges in scalability, adaptability, and efficiency,…