Related papers: C$^2$-Explorer: Contiguity-Driven Task Allocation …
Constrained multi-agent reinforcement learning offers the framework to design scalable and almost surely feasible solutions for teams of agents operating in dynamic environments to carry out conflicting tasks. We address the challenges of…
We present Antler, which exploits the affinity between all pairs of tasks in a multitask inference system to construct a compact graph representation of the task set and finds an optimal order of execution of the tasks such that the…
MLLM-based GUI agents have demonstrated strong capabilities in complex user interface interaction tasks. However, long-horizon scenarios remain challenging, as these agents are burdened with tasks beyond their intrinsic capabilities,…
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…
Unmanned aerial vehicles (UAVs) play an increasingly important role in assisting fast-response post-disaster rescue due to their fast deployment, flexible mobility, and low cost. However, UAVs face the challenges of limited battery capacity…
With the rapid development of autonomous driving technologies, it becomes difficult to reconcile the conflict between ever-increasing demands for high process rate in the intelligent automotive tasks and resource-constrained on-board…
Cartograms are map-based data visualizations in which the area of each map region is proportional to an associated numeric data value (e.g., population or gross domestic product). A cartogram is called contiguous if it conforms to this area…
Complex, multi-objective missions require the coordination of heterogeneous robots at multiple inter-connected levels, such as coalition formation, scheduling, and motion planning. This challenge is exacerbated by dynamic changes, such as…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
In Unmanned Aerial Vehicle (UAV)-enabled mobile edge computing (MEC) systems, UAVs can carry edge servers to help ground user equipment (UEs) offloading their computing tasks to the UAVs for execution. This paper aims to minimize the total…
Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized…
In emergency scenarios, unmanned aerial vehicles (UAVs) can be deployed to assist localization and communication services for ground terminals. In this paper, we propose a new integrated air-ground networking paradigm that uses…
This article introduces a five-tiered route planner for accessing multiple nodes with multiple autonomous underwater vehicles (AUVs) that enables efficient task completion in stochastic ocean environments. First, the pre-planning tier…
We study cooperative shortest path planning for an unmanned ground vehicle (UGV) assisted by an unmanned aerial vehicle (UAV) in environments with unknown road blockages that are only discovered when a robot reaches the damaged point. This…
This paper investigates the resource allocation optimization for cooperative communication with non-cooperative localization in integrated sensing and communications (ISAC)-enabled multi-unmanned aerial vehicle (UAV) cooperative networks.…
Many real-world multiagent learning problems involve safety concerns. In these setups, typical safe reinforcement learning algorithms constrain agents' behavior, limiting exploration -- a crucial component for discovering effective…
We present a resilient deep neural network (DNN) framework for decentralized transport and coverage using uncrewed aerial systems (UAS) operating in $\mathbb{R}^n$. The proposed DNN-based mass-transport architecture constructs a layered…
In this paper, we present a simultaneous exploration and object search framework for the application of autonomous trolley collection. For environment representation, a task-oriented environment partitioning algorithm is presented to…
Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…
The problem of adversary target detection and the subsequent task completion using a heterogeneous network of resource-constrained UAVs is considered. No prior knowledge about locations and required resources to identify these targets is…