8 accepted papers
The moving target traveling salesman problem with obstacles (MT-TSP-O) seeks an obstacle-free trajectory for an agent that intercepts a given set of moving targets, each within specified time windows, and returns to the agent's starting position. Each target moves with a constant velocity within its
Future ground logistics missions will require multiple robots to travel in a convoy between locations. As each location may require a different number of robots (e.g. resupply vehicles), these missions will require a mutable convoy formation structure that may be divided to meet operational needs at
In this paper, we present a novel motion planning algorithm that inherits the strengths of both optimization and search-based planners. Optimization-based planners use the gradient of an objective function to generate a desired path, whereas search-based planners operate on a graph capturing the sal…
We develop a planner that directs robots to construct a 3D target structure composed of blocks. The robots themselves are cubes of the same size as the blocks, and they may place, carry, or remove one block at a time. When moving, robots are also allowed to climb or descend a block. A construction p…
In deep metric learning, the triplet loss has emerged as a popular method to learn many computer vision and natural language processing tasks such as facial recognition, object detection, and visual-semantic embeddings. One issue that plagues the triplet loss is network collapse, an undesirable phen…
Robotic systems need advanced mobility capabili-ties to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some level of autonomy enables robots to operate robustly, reliably, and efficiently in such complex environments, e.g., autom…
Consider a Multi-Agent Collective Construction (MACC) problem that aims to generate a plan for fictitious cubic robots to build a three-dimensional structure comprised of cubic blocks. These cubic robots can carry one cubic block at a time; robots may move left, right, forwards, backward, or climb u…
Search and rescue applications often need multiple agents to complete a set of conflicting tasks. This paper studies a Multi-Agent Multi-Objective Ergodic Search (MA-MO-ES) approach to this problem where each objective or task is to cover a domain subject to an information map. The goal is to alloca…