156 citations · 255 across the 14 of their papers we have counts for
19 papers
Optimizing pre-scheduled, intermittently-observed MDPs
Patrick Zhong, Federico Rossi, Dylan A. Shell
A challenging category of robotics problems arises when sensing incurs substantial costs. This paper examines settings in which a robot wishes to limit its observations of state, f…
Planning under periodic observations: bounds and bounding-based solutions
Federico Rossi, Dylan Shell
We study planning problems faced by robots operating in uncertain environments with incomplete knowledge of state, and actions that are noisy and/or imprecise. This paper identifie…
Multi-Robot On-site Shared Analytics Information and Computing
Joshua Vander Hook, Federico Rossi, Tiago Vaquero +5
Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However,…
Multi-Agent Algorithms for Collective Behavior: A structural and application-focused atlas
Federico Rossi, Saptarshi Bandyopadhyay, Michael T. Wolf +1
The goal of this paper is to provide a survey and application-focused atlas of collective behavior coordination algorithms for multi-agent systems. We survey the general family of…
Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition
Kiril Solovey, Saptarshi Bandyopadhyay, Federico Rossi +2
Multi-robot systems are uniquely well-suited to performing complex tasks such as patrolling and tracking, information gathering, and pick-up and delivery problems, offering signifi…
A Visual Analytics Approach to Debugging Cooperative, Autonomous Multi-Robot Systems' Worldviews
Suyun Bae, Federico Rossi, Joshua Vander Hook +2
Autonomous multi-robot systems, where a team of robots shares information to perform tasks that are beyond an individual robot's abilities, hold great promise for a number of appli…
On Local Computation for Optimization in Multi-Agent Systems
Robin Brown, Federico Rossi, Kiril Solovey +2
A number of prototypical optimization problems in multi-agent systems (e.g., task allocation and network load-sharing) exhibit a highly local structure: that is, each agent's decis…
The Pluggable Distributed Resource Allocator (PDRA): a Middleware for Distributed Computing in Mobile Robotic Networks
Federico Rossi, Tiago Stegun Vaquero, Marc Sanchez Net +2
We present the Pluggable Distributed Resource Allocator (PDRA), a middleware for distributed computing in heterogeneous mobile robotic networks. PDRA enables autonomous robotic age…
On the Interaction between Autonomous Mobility on Demand Systems and Power Distribution Networks -- An Optimal Power Flow Approach
Alvaro Estandia, Maximilian Schiffer, Federico Rossi +4
In future transportation systems, the charging behavior of electric Autonomous Mobility on Demand (AMoD) fleets, i.e., fleets of electric self-driving cars that service on-demand t…
On the Interaction between Autonomous Mobility-on-Demand and Public Transportation Systems
Mauro Salazar, Federico Rossi, Maximilian Schiffer +2
In this paper we study models and coordination policies for intermodal Autonomous Mobility-on-Demand (AMoD), wherein a fleet of self-driving vehicles provides on-demand mobility jo…
Review of Multi-Agent Algorithms for Collective Behavior: a Structural Taxonomy
Federico Rossi, Saptarshi Bandyopadhyay, Michael Wolf +1
In this paper, we review multi-agent collective behavior algorithms in the literature and classify them according to their underlying mathematical structure. For each mathematical…
Data-Driven Model Predictive Control of Autonomous Mobility-on-Demand Systems
Ramon Iglesias, Federico Rossi, Kevin Wang +3
The goal of this paper is to present an end-to-end, data-driven framework to control Autonomous Mobility-on-Demand systems (AMoD, i.e. fleets of self-driving vehicles). We first mo…
On the interaction between Autonomous Mobility-on-Demand systems and the power network: models and coordination algorithms
Federico Rossi, Ramon Iglesias, Mahnoosh Alizadeh +1
We study the interaction between a fleet of electric, self-driving vehicles servicing on-demand transportation requests (referred to as Autonomous Mobility-on-Demand, or AMoD, syst…
Congestion-Aware Randomized Routing in Autonomous Mobility-on-Demand Systems
Federico Rossi, Rick Zhang, Marco Pavone
In this paper we study the routing and rebalancing problem for a fleet of autonomous vehicles providing on-demand transportation within a congested urban road network (that is, a r…
A BCMP Network Approach to Modeling and Controlling Autonomous Mobility-on-Demand Systems
Ramon Iglesias, Federico Rossi, Rick Zhang +1
In this paper we present a queueing network approach to the problem of routing and rebalancing a fleet of self-driving vehicles providing on-demand mobility within a capacitated ro…
Routing Autonomous Vehicles in Congested Transportation Networks: Structural Properties and Coordination Algorithms
Rick Zhang, Federico Rossi, Marco Pavone
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportat…
Model Predictive Control of Autonomous Mobility-on-Demand Systems
Rick Zhang, Federico Rossi, Marco Pavone
In this paper we present a model predictive control (MPC) approach to optimize vehicle scheduling and routing in an autonomous mobility-on-demand (AMoD) system. In AMoD systems, ro…
Distributed consensus with mixed time/communication bandwidth performance metrics
Federico Rossi, Marco Pavone
In this paper we study the inherent trade-off between time and communication complexity for the distributed consensus problem. In our model, communication complexity is measured as…
On the fundamental limitations of performance for distributed decision-making in robotic networks
Federico Rossi, Marco Pavone
This paper studies fundamental limitations of performance for distributed decision-making in robotic networks. The class of decision-making problems we consider encompasses a numbe…