相关论文: Using Explainable Scheduling for the Mars 2020 Rov…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. In the proposed centralized multi-robot planner, a simultaneous matching and routing problem (SMRP) is…
Application of UAV in indoor environment is emerging nowadays due to the advancements in technology. UAV brings more space-flexibility in an occupied or hardly-accessible indoor environment, e.g., shop floor of manufacturing industry,…
Rover localization is one of the perquisites for large scale rover exploration. In NASA's Mars 2020 mission, the Ingenuity helicopter is carried together with the rover, which is capable of obtaining high-resolution imagery of Mars terrain,…
This paper introduces a novel reinforcement learning (RL) approach to scheduling mixed-criticality (MC) systems on processors with varying speeds. Building upon the foundation laid by [1], we extend their work to address the non-preemptive…
Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…
On the basis of an analysis of previous research, we present a generalized approach for measuring the difference of plans with an exemplary application to machine scheduling. Our work is motivated by the need for such measures, which are…
Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to ensure humans are not harmed and nearby objects are not…
Mars is the next destination after Earth to support terrestrial life. Decades of Mars exploration has fascinated space explorers to endeavour for a human expedition. But human Mars enterprise is complicated than conventional mission as the…
In swarm robotics, agents interact through local roles to solve complex tasks beyond an individual's ability. Even though swarms are capable of carrying out some operations without the need for human intervention, many safety-critical…
This research addresses the multiprocessor scheduling problem of hard real-time systems, and it especially focuses on optimal and global schedulers when practical constraints are taken into account. First, we propose an improvement of the…
The 2020s will be the most data-rich decade of astronomy in history. As the scale and complexity of our surveys increase, the problem of scheduling becomes more critical. We must develop high-quality scheduling approaches, implement them as…
With the aim to stimulate future research, we describe an exploratory study of a railway rescheduling problem. A widely used approach in practice and state of the art is to decompose these complex problems by geographical scope. Instead, we…
This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
We introduce a new class of scheduling problems in which the optimization is performed by the worker (single ``machine'') who performs the tasks. A typical worker's objective is to minimize the amount of work he does (he is ``lazy''), or…
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…
The availability of Infrastructure-as-a-Service (IaaS) computing clouds gives researchers access to a large set of new resources for running complex scientific applications. However, exploiting cloud resources for large numbers of jobs…
While multi-agent systems (MAS) promise elevated intelligence through coordination of agents, current approaches to automatic MAS design under-deliver. Such shortcomings stem from two key factors: (1) methodological complexity - agent…
We present a heuristic algorithm for solving the problem of scheduling plans of tasks. The plans are ordered vectors of tasks, and tasks are basic operations carried out by resources. Plans are tied by temporal, precedence and resource…