相关论文: Data Survivability in Networks of Mobile Robots in…
We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
This research paper investigates how machine learning-driven data replication strategies can enhance fault tolerance in large-scale distributed systems. Traditional replication methods, which rely on static configurations, often struggle to…
Environmental disasters such as flash floods are becoming more and more prevalent and carry an increasing burden on human civilization. They are usually unpredictable, fast in development, and extend across large geographical areas. The…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
Dispatching mobile resources such as repair crews and mobile emergency generators is essential for the rapid restoration of distribution systems after extreme events. However, the restoration process is affected by various uncertain factors…
To improve the resilience of electric distribution systems, this paper proposes a stochastic multi-period mixed-integer linear programming model that determines where to underground distribution lines and how to coordinate mobile generators…
Accurate predictions of when a component will fail are crucial when planning maintenance, and by modeling the distribution of these failure times, survival models have shown to be particularly useful in this context. The presented…
Many rescue missions demand effective perception and real-time decision making, which highly rely on effective data collection and processing. In this study, we propose a three-layer architecture of emergency caching networks focusing on…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
We present an approach to the distributed storage of data across a swarm of mobile robots that forms a shared global memory. We assume that external storage infrastructure is absent, and that each robot is capable of devoting a quota of…
Human-supervision in multi-agent teams is a critical requirement to ensure that the decision-maker's risk preferences are utilized to assign tasks to robots. In stressful complex missions that pose risk to human health and life, such as…
Human mobility generation in disaster scenarios plays a vital role in resource allocation, emergency response, and rescue coordination. During disasters such as wildfires and hurricanes, human mobility patterns often deviate from their…
Dynamic replication is a wide-spread multi-copy routing approach for efficiently coping with the intermittent connectivity in mobile opportunistic networks. According to it, a node forwards a message replica to an encountered node based on…
Mobile power sources (MPSs) have been gradually deployed in microgrids as critical resources to coordinate with repair crews (RCs) towards resilience enhancement owing to their flexibility and mobility in handling the complex coupled…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…