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We propose a unifying framework based on configuration linear programs and randomized rounding, for different energy optimization problems in the dynamic speed-scaling setting. We apply our framework to various scheduling and routing…
The vehicle routing problem with drones (VRP-D) is to determine the optimal routes of trucks and drones such that the total operational cost is minimized in a scenario where the trucks work in tandem with the drones to deliver parcels to…
Due to the limitation of the drone's load capacity, various specific tasks need to be accomplished by multiple drones in collaboration. In some transportation tasks, two drones are required to lift the load together, which brings even more…
We consider the problem of optimizing the distribution operations at a drone hub that dispatches drones to different geographic locations generating stochastic demands for medical supplies. Drone delivery is an innovative method that…
Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…
Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…
Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
Efficient utilization of cooperating robots in the assembly of aircraft structures relies on balancing the workload of the robots and ensuring collision-free scheduling. We cast this problem as that of allocating a large number of…
This paper considers the optimization problems that arise to coordinate a tandem between a mothership vehicle and a fleet of drones. %more than one drone. Each drone can be launched from the mothership to perform an operation. After…
The drone delivery problem (DDP) has been introduced to include aerial vehicles in last-mile delivery operations to increase efficiency. However, the existing studies have not incorporated the communication quality requirements of such a…
The application of drones in the last-mile distribution is a research hotspot in recent years. Different from the previous urban distribution mode that depends on trucks, this paper proposes a novel package pick-up and delivery mode and…
This paper addresses the Traveling Salesman Problem with Drone (TSP-D), in which a truck and drone are used to deliver parcels to customers. The objective of this problem is to either minimize the total operational cost (min-cost TSP-D) or…
Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
High-tech giants and start-ups are investing in drone technologies to provide urban air delivery service, which is expected to solve the last-mile problem and mitigate road traffic congestion. However, air delivery service will not scale up…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
The Flying Sidekick Traveling Salesman Problem (FSTSP) considers a delivery system composed by a truck and a drone. The drone launches from the truck with a single package to deliver to a customer. Each drone must return to the truck to…
Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal…
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…