相关论文: Context-Aware System Synthesis, Task Assignment, a…
Autonomous robots must operate in diverse environments and handle multiple tasks despite uncertainties. This creates challenges in designing software architectures and task decision-making algorithms, as different contexts may require…
Cloud Robotics is helping to create a new generation of robots that leverage the nearly unlimited resources of large data centers (i.e., the cloud), overcoming the limitations imposed by on-board resources. Different processing power,…
Managing all the mobility and transportation services with autonomous vehicles for users of a smart city requires determining the assignment of the vehicles to the users and their routing in conjunction with their speed. Such decisions must…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
Robotic applications nowadays are widely adopted to enhance operational automation and performance of real-world Cyber-Physical Systems (CPSs) including Industry 4.0, agriculture, healthcare, and disaster management. These applications are…
Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…
Context: Modern Systems of Systems (SoSs) increasingly operate in dynamic environments (e.g., smart cities, autonomous vehicles) where runtime composition -- the on-the-fly discovery, integration, and coordination of constituent systems…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
A formal description of a Cyber-Physical system should include a rigorous specification of the computational and physical components involved, as well as their interaction. Such a description, thus, lends itself to a compositional model…
Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution…
We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a…
Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such tasks is overly conservative, while purely reactive…
Compositionality is a key strategy for addressing combinatorial complexity and the curse of dimensionality. Recent work has shown that compositional solutions can be learned and offer substantial gains across a variety of domains, including…
We propose a formal design framework for synthesizing coordination and control policies for cooperative multi-agent systems to accomplish a global mission. The global performance requirements are specified as regular languages while…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…
Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…