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The Multi-Agent Path Finding (MAPF) problem entails finding collision-free paths for a set of agents, guiding them from their start to goal locations. However, MAPF does not account for several practical task-related constraints. For…
The design and organization of complex robotic systems traditionally requires laborious trial-and-error processes to ensure both hardware and software components are correctly connected with the resources necessary for computation. This…
Maximizing the utility of human-robot teams in disaster response and search and rescue (SAR) missions remains to be a challenging problem. This is due to the dynamic, uncertain nature of the environment and the variability in cognitive…
A multi-modal transport system is acknowledged to have robust failure tolerance and can effectively relieve urban congestion issues. However, estimating the impact of disruptions across multi-transport modes is a challenging problem due to…
Modern business models have enabled service systems to leverage a large pool of casual employees with flexible hours, paid based on piece rates, to fulfill on-demand work. These systems have been successfully implemented in sectors such as…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
Many packing, scheduling and covering problems that were previously considered by computer science literature in the context of various transportation and production problems, appear also suitable for describing and modeling various…
This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
Autonomous sailboats are well suited for long-duration ocean observation due to their wind-driven endurance. However, their performance is highly anisotropic and strongly influenced by inhomogeneous and time-varying wind and current fields,…
Autonomous mobile robot fleets must coordinate task allocation and charging under limited shared resources, yet most battery aware planning methods address only a single robot. This paper extends degradation cost aware task planning to a…
Overcrowding in Emergency Departments (EDs) is particularly problematic during seasonal epidemic crises. Each year during this period, EDs set off recourse actions to cope with the increase in workload. Uncertainty in the length and…
In this paper we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring to constantly revisit…
In vehicular cloud computing (VCC) systems, the computational resources of moving vehicles are exploited and managed by infrastructures, e.g., roadside units, to provide computational services. The offloading of computational tasks and…
Airborne mobile Integrated Sensing and Communication (ISAC) base stations have garnered significant attention recently, with ISAC technology being a crucial application for 6G networks. Since ISAC can sense potential mobile communication…
We study the problem of scheduling jobs on fault-prone machines communicating via a shared channel, also known as multiple-access channel. We have $n$ arbitrary length jobs to be scheduled on $m$ identical machines, $f$ of which are prone…
Coverage motion planning is essential to a wide range of robotic tasks. Unlike conventional motion planning problems, which reason over temporal sequences of states, coverage motion planning requires reasoning over the spatial distribution…
Natural disasters, such as hurricanes, earthquakes and large wind or ice storms, typically require the repair of a large number of components in electricity distribution networks. Since power cannot be restored before these repairs have…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
This paper studies the problem of congestion control and scheduling in ad hoc wireless networks that have to support a mixture of best-effort and real-time traffic. Optimization and stochastic network theory have been successful in…
Multi-access edge computing (MEC) is regarded as a promising technology in the sixth-generation communication. However, the antenna gain is always affected by the environment when unmanned aerial vehicles (UAVs) are served as MEC platforms,…