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Dimensions of Cooperative Control [chapter]

Jeff S. Shamma, Gurdal Arslan
2007 Cooperative Control of Distributed Multi-Agent Systems  
environments, and adversarial elements.  ...  Furthermore, there is typically a communication cost in distributing locally gathered information. A secondary distinguishing feature is complexity.  ...  D'Andrea, 'Multi-vehicle cooperative control using mixed integer linear programming'. 11 G.C. Chasparis and J.S. Shamma, 'LP-based multi-vehicle path planning with adversaries'. A.  ... 
doi:10.1002/9780470724200.ch1 fatcat:h6x6c4i4wbaa5ajkg7mw66ugnu

Trajectory planning under environmental uncertainty with finite-sample safety guarantees

Vasileios Lefkopoulos, Maryam Kamgarpour
2021 Automatica  
We tackle the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain time-varying locations.  ...  The uncertainties are modeled using widely accepted Gaussian distributions, resulting in a chance-constrained program.  ...  Usmanova for helping with Lemma 6.  ... 
doi:10.1016/j.automatica.2021.109754 fatcat:3f5ifkbfi5e7zkh2dz5q47xpzu

Online horizon selection in receding horizon temporal logic planning

Vasumathi Raman, Mattias Falt, Tichakorn Wongpiromsarn, Richard M. Murray
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
We demonstrate the utility of this additional flexibility in grant-response tasks, using a search-and-rescue example.  ...  We propose a receding horizon algorithm for reactive synthesis that automatically determines a path to the currently pursued goal at runtime, responding as needed to nondeterministic environment behavior  ...  Their approach is restricted to systems whose dynamics can be encoded as mixed integer linear constraints, and uses mathematical programming to synthesize control inputs.  ... 
doi:10.1109/iros.2015.7353864 dblp:conf/iros/RamanFWM15 fatcat:d2iw65v5bfdytiswt3jdsr7fhu

FBCRI Based Real-time Path Planning for Unmanned Aerial Vehicles in Unknown Environments with Uncertainty

Wei LIU, Peng HAO, Zheng ZHENG, Kaiyuan CAI
2013 ROBOT  
In view of the deterministic decisions and the uncertain states of a UAV (unmanned air vehicle), chance constraints are adopted to probabilistically guarantee the UAV's safety at a required level.  ...  Simulation results in representative scenes prove that the method is able to rapidly generate convergent paths in obstacle-rich environments, as well as highly improve the path quality with respect to  ...  Most familiar realtime methods address rapid escape cases under deterministic conditions on threat boundaries or flight states, such as RRTs [5, 14] , mixed-integer linear programming (MILP) based methods  ... 
doi:10.3724/sp.j.1218.2013.00641 fatcat:vzmd7wxhezh7firc33w5ybdic4

Human–agent collaboration for disaster response

Sarvapali D. Ramchurn, Feng Wu, Wenchao Jiang, Joel E. Fischer, Steve Reece, Stephen Roberts, Tom Rodden, Chris Greenhalgh, Nicholas R. Jennings
2015 Autonomous Agents and Multi-Agent Systems  
Hence, rescue missions may need to be re-planned as new information comes in, tasks are completed, or new hazards are discovered.  ...  Moreover, responders have to operate in highly uncertain and dynamic environments where new tasks may appear and hazards may be spreading across the disaster space.  ...  We also wish to thank Trung Dong Huynh for generating the traces of the player movements as well as Davide Zilli and Sebastian Stein for initial input on the Responder App.  ... 
doi:10.1007/s10458-015-9286-4 fatcat:4nru7ad5dfbnbapr2cwt37qoti

Exploiting Natural Language for Efficient Risk-Aware Multi-Robot SaR Planning

Vikram Shree, Beatriz Asfora, Rachel Zheng, Samantha Hong, Jacopo Banfi, Mark Campbell
2021 IEEE Robotics and Automation Letters  
The problem is solved via a distributed approach based on Mixed-Integer Linear Programming.  ...  A risk-aware variant of the Multi-robot Efficient Search Path Planning (MESPP) problem is then formulated to use the danger estimates in order to account for high-risk locations in the environment when  ...  Chief Tom Basher (City of Ithaca Fire Dept.) and Chief George Tamborelle (Cayuga Heights Fire Dept.) for their valuable insights on real-world SaR missions.  ... 
doi:10.1109/lra.2021.3062798 fatcat:ibwd4txqrvdvnjo5cu7fcv2xsy

Grand Challenges in Resilience: Autonomous System Resilience through Design and Runtime Measures [article]

Saurabh Bagchi, Vaneet Aggarwal, Somali Chaterji, Fred Douglis, Aly El Gamal, Jiawei Han, Brian J. Henz, Hank Hoffmann, Suman Jana, Milind Kulkarni, Felix Xiaozhu Lin, Karen Marais (+4 others)
2020 arXiv   pre-print
A set of about 80 researchers, practitioners, and federal agency program managers participated in the NSF-sponsored Grand Challenges in Resilience Workshop held on Purdue campus on March 19-21, 2019.  ...  We focus on some autonomous systems in the near horizon (autonomous ground and aerial vehicles) and also a little more distant (autonomous rescue and relief).  ...  For other applications, straightforward detection mechanisms should be used to judge how easy is it to detect the presence of an attack. 2: Value of knowledge in adversarial and uncertain environments.  ... 
arXiv:1912.11598v3 fatcat:d4lf2vs4yjbbrnrg7hk65qtbbm

Vision Paper: Grand Challenges in Resilience: Autonomous System Resilience through Design and Runtime Measures

Saurabh Bagchi, Vaneet Aggarwal, Somali Chaterji, Fred Douglis, Aly El Gamal, Jiawei Han, Brian Henz, Henry Hoffmann, Suman Jana, Milind Kulkarni, Felix Xiaozhu Lin, Karen Marais (+3 others)
2020 IEEE Open Journal of the Computer Society  
We focus on some autonomous systems in the near horizon (autonomous ground and aerial vehicles) and also a little more distant (autonomous rescue and relief).  ...  For resilience-by-design, we focus on design methods in software that are needed for our cyber systems to be resilient.  ...  For other applications, straightforward detection mechanisms should be used to judge how easy is it to detect the presence of an attack. 2: Value of knowledge in adversarial and uncertain environments.  ... 
doi:10.1109/ojcs.2020.3006807 fatcat:sngt6fii3rhi7hiovtbjj5ptuy

Portfolio Optimization for Defence Applications

Kyle Robert Harrison, Saber Elsayed, Ivan Garanovich, Terence Weir, Michael Galister, Sharon Boswell, Richard Taylor, Ruhul Sarker
2020 IEEE Access  
INDEX TERMS Future force design, portfolio optimization, defense planning, project selection, project prioritization, uncertainty, robustness. 60152 This work is licensed under a Creative Commons Attribution  ...  One methodology that is often employed in this domain is portfolio optimization, whereby the objective is to select a diverse set of assets that maximize the return on investment.  ...  Legend: MC -multi-criteria, MO -multi-objective, MOOmulti-objective optimization, IP -integer programming, LP -linear programming, MILP -mixed-integer linear programming, NIP -nonlinear integer programming  ... 
doi:10.1109/access.2020.2983141 fatcat:yxvillvsmjemrp4ooomfqrhaiq

Multi-robot target detection and tracking: taxonomy and survey

Cyril Robin, Simon Lacroix
2015 Autonomous Robots  
We review various work related to each class of problems identified in the taxonomy, highlighting the different approaches, models and results.  ...  This variety and the fact that target related robotics problems are pertinent for a large spectrum of applications has motivated a large amount of contributions, which have mostly been surveyed according  ...  Acknowledgements: The authors are thankful to Wheeler Ruml for his helpful remarks.  ... 
doi:10.1007/s10514-015-9491-7 fatcat:yqq75fwdkzdipelxpgtiz3ffba

2020 Index IEEE Transactions on Intelligent Transportation Systems Vol. 21

2020 IEEE transactions on intelligent transportation systems (Print)  
., +, TITS June 2020 2557-2570 Energy-Efficient Train Scheduling and Rolling Stock Circulation Planning in a Metro Line: A Linear Programming Approach.  ...  ., +, TITS Feb. 2020 680-689 A Mixed Path Size Logit-Based Taxi Customer-Search Model Considering Spatio-Temporal Factors in Route Choice.  ...  R Radar clutter Outliers-Robust CFAR Detector of Gaussian Clutter Based on the Truncated-Maximum-Likelihood-Estimator in SAR Imagery. Ai, J., 2039 -2049  ... 
doi:10.1109/tits.2020.3048827 fatcat:ab6he3jkfjboxg7wa6pagbggs4

The Vessel Schedule Recovery Problem (VSRP) – A MIP model for handling disruptions in liner shipping

Berit D. Brouer, Jakob Dirksen, David Pisinger, Christian E.M. Plum, Bo Vaaben
2013 European Journal of Operational Research  
We illustrate the application of these ideas in four major problems: a) integration of planning and scheduling in batch processes that lead to large-scale mixed-integer linear programs, b) optimization  ...  -Testing the validity of the MIP approach for locating carsharing stations in one-way systems Previous research has proposed using a mixed integer programming (MIP) model for choosing the location of stations  ...  -Optimal Dynamic Tax Evasion: A Portfolio Approach Francesco Menoncin, Economics, Brescia University, Via S. Faustino, 74/B, 25122, Brescia, Italy, menoncin@eco.unibs.it, Rosella Levaggi  ... 
doi:10.1016/j.ejor.2012.08.016 fatcat:c27kagfnxnhjfbil2rydhjhomm

Stay Ahead of Poachers: Illegal Wildlife Poaching Prediction and Patrol Planning Under Uncertainty with Field Test Evaluations [article]

Lily Xu, Shahrzad Gholami, Sara Mc Carthy, Bistra Dilkina, Andrew Plumptre, Milind Tambe, Rohit Singh, Mustapha Nsubuga, Joshua Mabonga, Margaret Driciru, Fred Wanyama, Aggrey Rwetsiba, Tom Okello (+1 others)
2019 arXiv   pre-print
To help combat poaching, the Protection Assistant for Wildlife Security (PAWS) is a machine learning pipeline that has been developed as a data-driven approach to identify areas at high risk of poaching  ...  In this paper, we take an end-to-end approach to the data-to-deployment pipeline for anti-poaching.  ...  ACKNOWLEDGMENT Thank you to our partners at Uganda Wildlife Authority, Cambodia Ministry of Environment, Wildlife Conservation Society, and the World Wide Fund for Nature for their conservation efforts  ... 
arXiv:1903.06669v3 fatcat:wvttsoa3nzgvxgijn7smpwpd5u

Flood Disaster Mitigation: A Real-World Challenge Problem for Multi-agent Unmanned Surface Vehicles [chapter]

Paul Scerri, Balajee Kannan, Pras Velagapudi, Kate Macarthur, Peter Stone, Matt Taylor, John Dolan, Alessandro Farinelli, Archie Chapman, Bernadine Dias, George Kantor
2012 Lecture Notes in Computer Science  
As we advance the state of technology for robotic systems, there is a need for defining complex real-world challenge problems for the multi-agent/robot community to address.  ...  In addition to addressing an essential need, the outlined application provides an interesting challenge problem for advancing fundamental research in multi-agent systems (MAS) specific to the USV domain  ...  We plan to make the simulation environment open for anyone in the community to test and contribute algorithms.  ... 
doi:10.1007/978-3-642-27216-5_16 fatcat:l67btff74faszhb3gtz4thwu4m

Proactive and Reactive Coordination of Non-dedicated Agent Teams Operating in Uncertain Environments

Pritee Agrawal, Pradeep Varakantham
2017 Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence  
Existing research in task allocation has only considered fixed number of agents and in some instances arrival of new agents on the team.  ...  To that end, we first provide a general model to represent non-dedicated teams.  ...  We provide this mixed integer linear program (MILP) for a dedicated agent team in table 1.  ... 
doi:10.24963/ijcai.2017/5 dblp:conf/ijcai/AgrawalV17 fatcat:zdedubhcwnbuvhyve65y7ppocq
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