相关论文: Intermittent Rendezvous Plans with Mixed Integer L…
The goal of survey design is often to minimize the errors associated with inference: the total of bias and variance. Random surveys are common because they allow the use of theoretically unbiased estimators. In practice however, such…
As robots become increasingly capable, users will want to describe high-level missions and have robots infer the relevant details. Because pre-built maps are difficult to obtain in many realistic settings, accomplishing such missions will…
This paper presents a scalable multi-robot motion planning algorithm called Conflict-Based Model Predictive Control (CB-MPC). Inspired by Conflict-Based Search (CBS), the planner leverages a similar high-level conflict tree to efficiently…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Several novel mixed-integer linear and bilinear formulations are proposed for the optimum communication spanning tree problem. They implement the distance-based approach: graph distances are directly modeled by continuous, integral, or…
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…
A robust drift-safe rendezvous trajectory optimization tool is developed in this work, with applications to orbital rendezvous and proximity operations. The method is based on direct collocation and utilizes a sequential convex programming…
This paper develops a hierarchical reinforcement learning architecture for multimission spaceflight campaign design under uncertainty, including vehicle design, infrastructure deployment planning, and space transportation scheduling. This…
As large scale deployment of smart devices in the power grid continues, research efforts need to increasingly focus on efficient communication of generated information. This paper describes a strategy for static routing and scheduling of…
Achieving optimal transmission throughput in data networks in a multi-hop wireless networks is fundamental but hard problem. The situation is aggravated when nodes are mobile. Further, multi-rate system make the analysis of throughput more…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
This work considers the path planning problem for a team of identical robots evolving in a known environment. The robots should satisfy a global specification given as a Linear Temporal Logic (LTL) formula over a set of regions of interest.…
Vertical Take-Off and Landing (VTOL) vehicles are gaining traction in both the delivery drone market and passenger transportation, driving the development of Urban Air Mobility (UAM) systems. UAM seeks to alleviate road congestion in dense…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
In this paper we schedule the travel path of a set of drones across a graph where the nodes need to be visited multiple times at pre-defined points in time. This is an extension of the well-known multiple traveling salesman problem. The…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
Multi-Robot-Arm Motion Planning (M-RAMP) is a challenging problem featuring complex single-agent planning and multi-agent coordination. Recent advancements in extending the popular Conflict-Based Search (CBS) algorithm have made large…
We investigate the challenge of task planning for multi-task embodied agents in open-world environments. Two main difficulties are identified: 1) executing plans in an open-world environment (e.g., Minecraft) necessitates accurate and…
This paper considers multiple-input multiple-output (MIMO) relay communication in multi-cellular (interference) systems in which MIMO source-destination pairs communicate simultaneously. It is assumed that due to severe attenuation and/or…
Contact-implicit motion planning-embedding contact sequencing as implicit complementarity constraints-holds the promise of leveraging continuous optimization to discover new contact patterns online. Nevertheless, the resulting optimization,…