相关论文: Platform-Aware Mission Planning

Agentic systems have transformed how Large Language Models (LLMs) can be leveraged to create autonomous systems with goal-directed behaviors, consisting of multi-step planning and the ability to interact with different environments. These…

Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…

Providing a higher level of decision autonomy and accompanying prompt changes of an uncertain environment is a true challenge of AUVs autonomous operations. The proceeding approach introduces a robust reactive structure that accommodates an…

In this paper we describe a framework towards computing well-localized, robust motion plans through the perception-aware motion planning problem, whereby we seek a low-cost motion plan subject to a separate constraint on perception…

When automating plan generation for a real-world sequential decision problem, the goal is often not to replace the human planner, but to facilitate an iterative reasoning and elicitation process, where the human's role is to guide the AI…

In task and motion planning, high-level task planning is done over an abstraction of the world to enable efficient search in long-horizon robotics problems. However, the feasibility of these task-level plans relies on the downward…

We introduce a new model for the task mapping problem to aid in the systematic design of algorithms for heterogeneous systems including, but not limited to, CPUs, GPUs and FPGAs. A special focus is set on the communication between the…

We propose a hierarchical design framework to automatically synthesize coordination schemes and control policies for cooperative multi-agent systems to fulfill formal performance requirements, by associating a bottom-up reactive motion…

Despite significant advances in Large Language Models (LLMs), planning tasks still present challenges for LLM-based agents. Existing planning methods face two key limitations: heavy constraints and cascading errors. To address these…

This paper presents a solution to the automatic task planning problem for multi-agent systems. A formal framework is developed based on the Nondeterministic Finite Automata with $\epsilon$-transitions, where given the capabilities,…

Self-adaptive approaches for runtime resource management of manycore computing platforms often require a runtime model of the system that represents the software organization or the architecture of the target platform. The increasing…

This work presents an optimization-based task and motion planning (TAMP) framework that unifies planning for locomotion and manipulation through a shared representation of contact modes. We define symbolic actions as contact mode changes,…

In complex multi-agent systems involving heterogeneous teams, uncertainty arises from numerous sources like environmental disturbances, model inaccuracies, and changing tasks. This causes planned trajectories to become infeasible, requiring…

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…

Environmental changes, failures, collisions or even terrorist attacks can cause serious malfunctions of the delivery systems. We have presented a novel approach improving resilience of Autonomous Moving Platforms AMPs. The approach is based…

Large language models (LLMs) are increasingly deployed as the execution core of autonomous agents rather than as standalone text generators. Agentic workloads induce a temporal shift from single-turn inference to multi-turn LLM-tool loops,…

The proliferation of heterogeneous chip multiprocessors in recent years has reached unprecedented levels. Traditional homogeneous platforms have shown fundamental limitations when it comes to enabling high-performance yet-ultra-low-power…

We are in the process of building complex highly autonomous systems that have build-in beliefs, perceive their environment and exchange information. These systems construct their respective world view and based on it they plan their future…

Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…

An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…