相关论文: On Endogenous Reconfiguration in Mobile Robotic Ne…

Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…

There have been emerging lots of applications for distributed storage systems e.g., those in wireless sensor networks or cloud storage. Since storage nodes in wireless sensor networks have limited battery, it is valuable to find a repair…

Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…

This study develops a robot mobility policy based on deep reinforcement learning. Since traditional methods of conventional robotic navigation depend on accurate map reproduction as well as require high-end sensors, learning-based methods…

The rapid deployment of wireless sensor network (WSN) poses the challenge of finding optimal locations for the network nodes, especially so in (i) unknown and (ii) obstacle-rich environments. This paper addresses this challenge with BISON…

We study the problem of motion planning for a collection of $n$ labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their start and final positions: that each start and each final is…

Traditionally, networks such as datacenter interconnects are designed to optimize worst-case performance under arbitrary traffic patterns. Such network designs can however be far from optimal when considering the actual workloads and…

We consider the traffic assignment problem in nonatomic routing games where the players' cost functions may be subject to random fluctuations (e.g., weather disturbances, perturbations in the underlying network, etc.). We tackle this…

We propose two distributionally robust optimization (DRO) models for a mobile facility (MF) fleet sizing, routing, and scheduling problem (MFRSP) with time-dependent and random demand, as well as methodologies for solving these models.…

This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…

In this paper, we propose a novel methodology for path planning and scheduling for multi-robot navigation that is based on optimal transport theory and model predictive control. We consider a setup where $N$ robots are tasked to navigate to…

A novel reconfigurable intelligent surface-aided multi-robot network is proposed, where multiple mobile robots are served by an access point (AP) through non-orthogonal multiple access (NOMA). The goal is to maximize the sum-rate of whole…

There is a growing demand for mobile robots to operate in more variable environments, where guaranteeing safe robot navigation is a priority, in addition to time performance. To achieve this, current solutions for local planning use a…

In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…

We consider a fundamental problem concerning the deployment of a wireless robotic network: to fulfill various end-to-end performance requirements, a "sufficient" number of robotic relays must be deployed to ensure that links are of…

Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…

This paper focuses on designing edge-weighted networks, whose robustness is characterized by maximizing algebraic connectivity, or the second smallest eigenvalue of the Laplacian matrix. This problem is motivated by cooperative vehicle…

We present an evolutionary programming algorithm for solving the dynamic routing and wavelength assignment (DRWA) problem in optical wavelength-division multiplexing (WDM) networks under wavelength continuity constraint. We assume an ideal…

Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…

Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…