相关论文: Optimal Coupled Sensor Placement and Path-Planning…

Sampling-based motion planners (SBMPs) are widely used to compute dynamically feasible robot paths. However, their reliance on uniform sampling often leads to poor efficiency and slow planning in complex environments. We introduce a novel…

Cooperative path planning, a crucial aspect of multi-agent systems research, serves a variety of sectors, including military, agriculture, and industry. Many existing algorithms, however, come with certain limitations, such as simplified…

We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…

In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…

Sharing and joint processing of camera feeds and sensor measurements, known as Cooperative Perception (CP), has emerged as a new technique to achieve higher perception qualities. CP can enhance the safety of Autonomous Vehicles (AVs) where…

Safe planning of an autonomous agent in interactive environments -- such as the control of a self-driving vehicle among pedestrians -- poses a major challenge as the behavior of the environment is unknown and reactive to the behavior of the…

In this paper, we aim to design the optimal sensor collaboration strategy for the estimation of time-varying parameters, where collaboration refers to the act of sharing measurements with neighboring sensors prior to transmission to a…

Accurate and efficient acquisition of wireless channel state information (CSI) is crucial to enhance the communication performance of wireless systems. However, with the continuous densification of wireless links, increased channel…

In high-density environments where numerous autonomous agents move simultaneously in a distributed manner, streamlining global flows to mitigate local congestion is crucial to maintain overall navigation efficiency. This paper introduces a…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…

Cyber Physical Systems (CPS) are becoming ubiquitous and affect the physical world, yet security is seldom at the forefront of their design. This is especially true of robotic control algorithms which seldom consider the effect of a cyber…

Localization is one of the most important factor in wireless sensor networks as many applications demand position information of sensors. Recently there is an increasing interest on the use of mobile anchors for localizing sensors. Most of…

This paper focuses on static source localization employing different combinations of measurements, including time-difference-of-arrival (TDOA), received-signal-strength (RSS), angle-of-arrival (AOA), and time-of-arrival (TOA) measurements.…

We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of…

We present a novel framework that combines machine learning with mixed-integer optimization to solve the Capacitated Location-Routing Problem (CLRP). The CLRP is a classical NP-hard problem that integrates strategic facility location with…

Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…

This paper addresses the problem of the communication of optimally compressed information for mobile robot path-planning. In this context, mobile robots compress their current local maps to assist another robot in reaching a target in an…

Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…

Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…