相关论文: Context-Aware System Synthesis, Task Assignment, a…

Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Everyday tasks are characterized by their varieties and variations, and frequently are not clearly specified to service agents. This paper presents a comprehensive approach to enable a service agent to deal with everyday tasks in open,…

This paper studies the integrated spacecraft routing and trajectory optimization problem for satellite servicing missions involving partial en-route propellant replenishment. Unlike terrestrial routing problems, spacecraft operate in a…

Reinforcement learning requires interaction with an environment, which is expensive for robots. This constraint necessitates approaches that work with limited environmental interaction by maximizing the reuse of previous experiences. We…

A basic task in the design of an industrial robot application is the relative placement of robot and workpiece. Process points are defined in Cartesian coordinates relative to the workpiece coordinate system, and the workpiece has to be…

Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…

We propose Teamwork Synthesis, a version of the distributed synthesis problem with application to teamwork multi-agent systems. We reformulate the distributed synthesis question by dropping the fixed interaction architecture among agents as…

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This…

The deployment of mobile robots for material handling in industrial environments requires scalable coordination of large fleets in dynamic settings. This paper presents a two-layer framework that combines high-level scheduling with…

The Vehicle Routing Problem (VRP) is the combinatorial optimization problem of designing routes for vehicles to visit customers in such a fashion that a cost function, typically the number of vehicles, or the total travelled distance is…

Time synchronization is a critical task in robotic computing such as autonomous driving. In the past few years, as we developed advanced robotic applications, our synchronization system has evolved as well. In this paper, we first introduce…

For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…

Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…

The multi Vehicle Routing Problem with Pickup and Delivery with Time Windows is a challenging version of the Vehicle Routing Problem. In this paper, by embedding many complex assignment routing constraints through constructing a multi…

Communication and topology aware process mapping is a powerful approach to reduce communication time in parallel applications with known communication patterns on large, distributed memory systems. We address the problem as a quadratic…

Computational agents support humans in many areas of life and are therefore found in heterogeneous contexts. This means they operate in rapidly changing environments and can be confronted with huge state and action spaces. In order to…

In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built…

We introduce and study the Joint Task Assistance Planning problem which generalizes prior work on optimizing assistance in robotic collaboration. In this setting, two robots operate over predefined roadmaps, each represented as a graph…

Deep learning's success in perception, natural language processing, etc. inspires hopes for advancements in autonomous robotics. However, real-world robotics face challenges like variability, high-dimensional state spaces, non-linear…