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Dimensions of Cooperative Control
[chapter]
2007
Cooperative Control of Distributed Multi-Agent Systems
Preserved Fulltext
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
2021
Automatica
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2021 pre-print arXiv:2108.06250v1 fatcat:f5j5lxatajgonmp7uvukxrllh4
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
2015
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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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
2013
ROBOT
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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
2015
Autonomous Agents and Multi-Agent Systems
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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
2021
IEEE Robotics and Automation Letters
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2021 pre-print arXiv:2104.03809v1 fatcat:fy5mqdjhubdxbkwmu3qtafxuam
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]
2020
arXiv
pre-print
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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
2020
IEEE Open Journal of the Computer Society
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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
2020
IEEE Access
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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
2015
Autonomous Robots
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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)
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., +, 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
2013
European Journal of Operational Research
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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]
2019
arXiv
pre-print
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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]
2012
Lecture Notes in Computer Science
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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
2017
Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence
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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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