相关论文: Bearing-Only Solution to the Fermat-Weber Location…

We develop a cost functional and state-space equations to model the problem of herding m sheep to the origin using n dogs. Our initial approach uses solve_bvp to approximate optimal control trajectories. But this method often fails to…

The ability to operate anywhere, anytime, as well as their capability to hover and carry cargo on board make Unmanned Aerial Vehicles (UAVs) suitable platforms to act as Flying Gateways (FGWs) to the Internet. The problem is the optimal…

Reinforcement learning methods as a promising technique have achieved superior results in the motion planning of free-floating space robots. However, due to the increase in planning dimension and the intensification of system dynamics…

The traveling salesman problem is a fundamental combinatorial optimization problem with strong exact algorithms. However, as problems scale up, these exact algorithms fail to provide a solution in a reasonable time. To resolve this, current…

We propose an algorithm for the Wireless Sensor Network localization problem, which is based on the well-known algorithmic framework of Alternating Minimization. We start with a non-smooth and non-convex minimization, and transform it into…

In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…

Location information is a fundamental requirement for unmanned aerial vehicles (UAVs) and other wireless sensor networks (WSNs). However, accurately and efficiently localizing sensor nodes with diverse functionalities remains a significant…

We present two first-order primal-dual algorithms for solving saddle point formulations of linear programs, namely FWLP (Frank-Wolfe Linear Programming) and FWLP-P. The former iteratively applies the Frank-Wolfe algorithm to both the primal…

Hybrid localization in GNSS-challenged environments using measured ranges and angles is becoming increasingly popular, in particular with the advent of multimodal communication systems. Here, we address the hybrid network localization…

Vehicle routing problem (VRP) is a typical discrete combinatorial optimization problem, and many models and algorithms have been proposed to solve the VRP and its variants. Although existing approaches have contributed a lot to the…

We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…

This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…

It has been shown that cooperative localization is capable of improving both the positioning accuracy and coverage in scenarios where the global positioning system (GPS) has a poor performance. However, due to its potentially excessive…

This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…

This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, considering input limits. We introduce a novel QP formulation to…

We present an evolutionary programming algorithm for solving the dynamic routing and wavelength assignment (DRWA) problem in optical wavelength-division multiplexing (WDM) networks under wavelength continuity constraint. We assume an ideal…

This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…

This paper develops a provably stable sensor-driven controller for path-following applications of robots with unicycle kinematics, one specific class of which is the wheeled mobile robot (WMR). The sensor measurement is converted to a…

Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…

We consider the localization problem between agents while they run a formation control algorithm. These algorithms typically demand from the agents the information about their relative positions with respect to their neighbors. We assume…