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Reinforcement learning (RL) has emerged as a promising paradigm in complex and continuous robotic tasks, however, safe exploration has been one of the main challenges, especially in contact-rich manipulation tasks in unstructured…
Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have developed geometric navigation systems with decades of empirical…
This paper proposes an assembly sequence planning framework, named Subassembly to Assembly (S2A). The framework is designed to enable a robotic manipulator to assemble multiple parts in a prespecified structure by leveraging object…
A human-swarm cooperative system, which mixes multiple robots and a human supervisor to form a heterogeneous team, is widely used for emergent scenarios such as criminal tracking in social security and victim assistance in a natural…
Reinforcement learning agents have been mostly developed and evaluated under the assumption that they will operate in a fully autonomous manner -- they will take all actions. In this work, our goal is to develop algorithms that, by learning…
We consider a combined problem of teaming and scheduling of multi-skilled employees that have to perform jobs with uncertain qualification requirements. We propose two modeling approaches that generate solutions that are robust to possible…
Generating schedules for shift workers is essential for many employers, whether the employer is a small or a large industrial complex, research laboratory, or other businesses involving shift works. Previous methods for creating rotational…
This paper studies the application of reconfigurable intelligent surface (RIS) to cooperative non-orthogonal multiple access (C-NOMA) networks with simultaneous wireless information and power transfer (SWIPT). We aim for maximizing the rate…
Long-horizon contact-rich bimanual manipulation presents a significant challenge, requiring complex coordination involving a mixture of parallel execution and sequential collaboration between arms. In this paper, we introduce a hierarchical…
Coverage path planning in a generic known environment is shown to be NP-hard. When the environment is unknown, it becomes more challenging as the robot is required to rely on its online map information built during coverage for planning its…
Autonomous robots are projected to significantly augment the manual workforce, especially in repetitive and hazardous tasks. For a successful deployment of such robots in human environments, it is crucial to guarantee human safety.…
Network slicing (NwS) is one of the main technologies in the fifth-generation of mobile communication and beyond (5G+). One of the important challenges in the NwS is information uncertainty which mainly involves demand and channel state…
The problem of team formation in a social network asks for a set of individuals who not only have the required skills to perform a task but who can also communicate effectively with each other. Existing work assumes that all links in a…
Reinforcement learning has shown promise for automating power-grid operation tasks such as topology control and congestion management. However, its deployment in real-world power systems remains limited by strict safety requirements,…
This paper addresses a central challenge of jointly considering shorter-term (e.g. hourly) and longer-term (e.g. yearly) uncertainties in power system planning with increasing penetration of renewable and storage resources. In conventional…
The channel estimation overhead of reconfigurable intelligent surface (RIS) assisted communication systems can be prohibitive. Prior works have demonstrated via simulations that grouping neighbouring RIS elements can help to reduce the…
A crucial and time-sensitive task when any disaster occurs is to rescue victims and distribute resources to the right groups and locations. This task is challenging in populated urban areas, due to the huge burst of help requests generated…
We consider the problem of determining the optimal composition of a heterogeneous multi-agent team for coverage problems by including costs associated with different agents and subject to an upper bound on the maximal allowable number of…
When solving a complex task, humans will spontaneously form teams and to complete different parts of the whole task, respectively. Meanwhile, the cooperation between teammates will improve efficiency. However, for current cooperative MARL…
Reconfigurable intelligent surfaces (RIS) is a promising solution to build a programmable wireless environment via steering the incident signal in fully customizable ways with reconfigurable passive elements. In this paper, we consider a…