59 citations · 183 across the 41 of their papers we have counts for
7 papers · 1 filter
Double Oracle Algorithm for Game-Theoretic Robot Allocation on Graphs
Zijian An, Lifeng Zhou
We study the problem of game-theoretic robot allocation where two players strategically allocate robots to compete for multiple sites of interest. Robots possess offensive or defen…
Monte-Carlo Tree Search for Behavior Planning in Autonomous Driving
Qianfeng Wen, Zhongyi Gong, Lifeng Zhou +1
The integration of autonomous vehicles into urban and highway environments necessitates the development of robust and adaptable behavior planning systems. This study presents an in…
Learning Decentralized Flocking Controllers with Spatio-Temporal Graph Neural Network
Siji Chen, Yanshen Sun, Peihan Li +2
Recently a line of researches has delved the use of graph neural networks (GNNs) for decentralized control in swarm robotics. However, it has been observed that relying solely on t…
Energy-Aware Routing Algorithm for Mobile Ground-to-Air Charging
Bill Cai, Fei Lu, Lifeng Zhou
We investigate the problem of energy-constrained planning for a cooperative system of an Unmanned Ground Vehicles (UGV) and an Unmanned Aerial Vehicle (UAV). In scenarios where the…
Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs
Haonan Chang, Kowndinya Boyalakuntla, Shiyang Lu +8
We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-base…
Assignment Algorithms for Multi-Robot Multi-Target Tracking with Sufficient and Limited Sensing Capability
Peihan Li, Lifeng Zhou
We study the problem of assigning robots with actions to track targets. The objective is to optimize the robot team's tracking quality which can be defined as the reduction in the…
Graph Neural Networks for Decentralized Multi-Agent Perimeter Defense
Elijah S. Lee, Lifeng Zhou, Alejandro Ribeiro +1
In this work, we study the problem of decentralized multi-agent perimeter defense that asks for computing actions for defenders with local perceptions and communications to maximiz…