相关论文: On Vehicle Placement to Intercept Moving Targets

We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to…

We study a class of zeroth-order distributed optimization problems, where each agent can control a partial vector and observe a local cost that depends on the joint vector of all agents, and the agents can communicate with each other with…

Forecasting the future trajectories of surrounding agents is crucial for autonomous vehicles to ensure safe, efficient, and comfortable route planning. While model ensembling has improved prediction accuracy in various fields, its…

We introduce a problem in which a service vehicle seeks to guard a deadline (boundary) from dynamically arriving mobile targets. The environment is a rectangle and the deadline is one of its edges. Targets arrive continuously over time on…

This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…

Functional lifting methods provide a tool for approximating solutions of difficult non-convex problems by embedding them into a larger space. In this work, we investigate a mathematically rigorous formulation based on embedding into the…

A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…

In this paper, we study whether inexpensive, physics-free supervision can reliably prioritize grasp-place candidates for budget-aware pick-and-place. From an object's initial pose, target pose, and a candidate grasp, we generate two…

We consider a class of stochastic optimal control problems for discrete-time stochastic linear systems which seek for control policies that will steer the probability distribution of the terminal state of the system close to a desired…

Decisions in automated logistic systems can be improved based on knowledge of real-time state of individual parts and also environmental factors. These knowledge can be obtained through travel time of edges by individual robots which…

We consider the problem of controlling the movement of multiple cooperating agents so as to minimize an uncertainty metric associated with a finite number of targets. In a one-dimensional mission space, we adopt an optimal control framework…

We study the distributed optimization problem over a graphon with a continuum of nodes, which is regarded as the limit of the distributed networked optimization as the number of nodes goes to infinity. Each node has a private local cost…

Inverse optimal transport (OT) refers to the problem of learning the cost function for OT from observed transport plan or its samples. In this paper, we derive an unconstrained convex optimization formulation of the inverse OT problem,…

Accurately estimating the position of static objects, such as traffic lights, from the moving camera of a self-driving car is a challenging problem. In this work, we present a system that improves the localization of static objects by…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

The Moving Target Vehicle Routing Problem (MT-VRP) seeks trajectories for several agents that intercept a set of moving targets, subject to speed, time window, and capacity constraints. We introduce an exact algorithm, Branch-and-Price with…

Motivated by ride-sharing platforms' efforts to reduce their riders' wait times for a vehicle, this paper introduces a novel problem of placing vehicles to fulfill real-time pickup requests in a spatially and temporally changing…

In this paper, we consider continuous-time stochastic optimal control problems where the cost is evaluated through a coherent risk measure. We provide an explicit gradient descent-ascent algorithm which applies to problems subject to…

The advent of vehicle autonomy, connectivity and electric powertrains is expected to enable the deployment of Autonomous Mobility-on-Demand systems. Crucially, the routing and charging activities of these fleets are impacted by the design…

Two-thirds of the people who buy a new car prefer to use a substitute instead of the built-in navigation system. However, for many applications, knowledge about a user's intended destination and route is crucial. For example, suggestions…