9 accepted papers
Rapid urbanization has increased demand for customized urban mobility, making on-demand services and robo-taxis central to future transportation. The efficiency of these systems hinges on real-time fleet coordination algorithms. This work accelerates the state-of-the-art high-capacity ridepooling fr
Rapid urbanization has increased demand for customized urban mobility, making on-demand services and robo-taxis central to future transportation. The efficiency of these systems hinges on real-time fleet coordination algorithms. This work accelerates the state-of-the-art high-capacity ridepooling fr…
This article discusses the integration challenges and strategies for designing mobile robots, by focusing on the task-driven, optimal selection of hardware and software to balance safety, efficiency, and minimal usage of resources such as costs, energy, computational requirements, and weight. We emp
Robots operating alongside people, particularly in sensitive scenarios such as aiding the elderly with daily tasks or collaborating with workers in manufacturing, must guarantee safety and cultivate user trust. Continuum soft manipulators promise safety through material compliance, but as designs ev…
Large robot fleets are now common in warehouses and other logistics settings, where small control gains translate into large operational impacts. In this article, we address task scheduling for lifelong Multi-Agent Pickup-and-Delivery (MAPD) and propose a hybrid method that couples learning-based gl
Robots operating alongside people, particularly in sensitive scenarios such as aiding the elderly with daily tasks or collaborating with workers in manufacturing, must guarantee safety and cultivate user trust. Continuum soft manipulators promise safety through material compliance, but as designs ev
Modern applications require robots to comply with multiple, often conflicting rules and to interact with the other agents. We present Posetal Games as a class of games in which each player expresses a preference over the outcomes via a partially ordered set of metrics. This allows one to combine hie
Visual navigation for insect-scale robots is very challenging because in such a small scale, the size, weight, and power (SWaP) constraints do not appear to permit visual navigation techniques such as SLAM (Simultaneous Localization and Mapping) because they are likely to be too power-hungry. We pro…
We consider the problem of co-designing embodied intelligence as a whole in a structured way, from hardware components such as propulsion systems and sensors to software modules such as control and perception pipelines. We propose a principled approach to formulate and solve complex embodied intelli…