相关论文: Safety-Aware Optimal Scheduling for Autonomous Mas…
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…
The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…
A scheduling method in a robotic network cloud system with minimal makespan is beneficial as the system can complete all the tasks assigned to it in the fastest way. Robotic network cloud systems can be translated into graphs where nodes…
Cooperative path planning for heterogeneous UAV swarms poses significant challenges for Multi-Agent Reinforcement Learning (MARL), particularly in handling asymmetric inter-agent dependencies and addressing the risks of sparse rewards and…
Real-life parallel machine scheduling problems can be characterized by: (i) limited information about the exact task duration at scheduling time, and (ii) an opportunity to reschedule the remaining tasks each time a task processing is…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
Unmanned aerial vehicles (UAVs) are being employed in many areas such as photography, emergency, entertainment, defence, agriculture, forestry, mining and construction. Over the last decade, UAV technology has found applications in numerous…
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…
The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
We present a novel concept of a heterogeneous, distributed platform for autonomous 3D construction. The platform is composed of two types of robots acting in a coordinated and complementary fashion: (i) A collection of communicating smart…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
Micro aerial vehicles are becoming increasingly important in search and rescue operations due to their agility, speed, and ability to access confined spaces or hazardous areas. However, designing lightweight aerial systems presents…
In order to fully exploit the advantages inherent to cooperating heterogeneous multi-robot teams, sophisticated coordination algorithms are essential. Time-extended multi-robot task allocation approaches assign and schedule a set of tasks…
UAVs are increasingly being employed to carry out surveillance, parcel delivery, communication-support and other specific tasks. Their equipment and mission plan are carefully selected to minimize the carried load an overall resource…
This work seeks to design decisionmaking rules for autonomous agents to jointly influence and optimize the behavior of teamed human decisionmakers in the presence of an adversary. We study a situation in which computational jobs are…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…