相关论文: RoboRun: A Robot Runtime to Exploit Spatial Hetero…
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…
CPU being considered a primary computer resource, its scheduling is central to operating-system design. A thorough performance evaluation of various scheduling algorithms manifests that Round Robin Algorithm is considered as optimal in time…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Gathering knowledge about surroundings and generating situational awareness for IoT devices is of utmost importance for systems developed for smart urban and uncontested environments. For example, a large-area surveillance system is…
The growing use of service robots in dynamic environments requires flexible management of on-board compute resources to optimize the performance of diverse tasks such as navigation, localization, and perception. Current robot deployments…
With the rapid advancement of devices requiring intensive computation, such as Internet of Things (IoT) devices, smart sensors, and wearable technology, the computational demands on individual platforms with limited resources have…
In disaster response scenarios, deploying robotic teams effectively is crucial for improving situational awareness and enhancing search and rescue operations. The use of robots in search and rescue has been studied but the question of where…
Autonomous robots need to be able to handle uncertainties when deployed in the real world. For the robot to be able to robustly work in such an environment, it needs to be able to adapt both its architecture as well as its task plan.…
In the vision of smart cities, technologies are being developed to enhance the efficiency of urban services and improve residents' quality of life. However, most existing research focuses on optimizing individual services in isolation,…
Robots have inherently limited onboard processing, storage, and power capabilities. Cloud computing resources have the potential to provide significant advantages for robots in many applications. However, to make use of these resources,…
When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
Distributed processing across a networked environment suffers from unpredictable behavior of speedup due to heterogeneous nature of the hardware and software in the remote machines. It is challenging to get a better performance from a…
We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of…
More widespread adoption requires swarms of robots to be more flexible for real-world applications. Multiple challenges remain in complex scenarios where a large amount of data needs to be processed in real-time and high degrees of…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
Supercomputers have revolutionized how industries and scientific fields process large amounts of data. These machines group hundreds or thousands of computing nodes working together to execute time-consuming programs that require a large…