23 citations · 77 across the 15 of their papers we have counts for
17 papers
Auction algorithm sensitivity for multi-robot task allocation
Katie Clinch, Tony A. Wood, Chris Manzie
We consider the problem of finding a low-cost allocation and ordering of tasks between a team of robots in a d-dimensional, uncertain, landscape, and the sensitivity of this soluti…
Certification of Bottleneck Task Assignment with Shortest Path Criteria
Tony A. Wood, Maryam Kamgarpour
Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinati…
Probabilistic Data Association for Semantic SLAM at Scale
Elad Michael, Tyler Summers, Tony A. Wood +2
With advances in image processing and machine learning, it is now feasible to incorporate semantic information into the problem of simultaneous localisation and mapping (SLAM). Pre…
Gradient Free Cooperative Seeking of a Moving Source
Elad Michael, Chris Manzie, Tony A. Wood +2
In this paper, we consider the optimisation of a time varying scalar field by a network of agents with no gradient information. We propose a composite control law, blending extremu…
Temporal Logic Planning for Minimum-Time Positioning of Multiple Threat-Seduction Decoys
Tony A. Wood, Mitchell Khoo, Elad Michael +2
Reusable decoys offer a cost-effective alternative to the single-use hardware commonly applied to protect surface assets from threats. Such decoys portray fake assets to lure threa…
Sensitivity Analysis for Bottleneck Assignment Problems
Elad Michael, Tony A. Wood, Chris Manzie +1
In assignment problems, decision makers are often interested in not only the optimal assignment, but also the sensitivity of the optimal assignment to perturbations in the assignme…
A Distributed Augmenting Path Approach for the Bottleneck Assignment Problem
Mitchell Khoo, Tony A. Wood, Chris Manzie +1
We develop an algorithm to solve the Bottleneck Assignment Problem (BAP) that is amenable to having computation distributed over a network of agents. This consists of exploring how…
Exploiting Structure in the Bottleneck Assignment Problem
Mitchell Khoo, Tony A. Wood, Chris Manzie +1
An assignment problem arises when there exists a set of tasks that must be allocated to a set of agents. The bottleneck assignment problem (BAP) has the objective of minimising the…
A Greedy and Distributable Approach to the Lexicographic Bottleneck Assignment Problem with Conditions on Exactness
Mitchell Khoo, Tony A. Wood, Chris Manzie +1
Solving the Lexicographic Bottleneck Assignment Problem (LexBAP) typically relies on centralised computation with order quartic complexity. We consider the Sequential Bottleneck As…
Optimization with Zeroth-Order Oracles in Formation
Elad Michael, Daniel Zelazo, Tony A. Wood +2
In this paper, we consider the optimisation of time varying functions by a network of agents with no gradient information. The proposed a novel method to estimate the gradient at e…
Uncertainty Intervals for Robust Bottleneck Assignment
Elad Michael, Tony A. Wood, Chris Manzie +1
We examine the robustness of bottleneck assignment problems to perturbations in the assignment weights. We derive two algorithms that provide uncertainty bounds for robust assignme…
Global Sensitivity Analysis for the Linear Assignment Problem
Elad Michael, Tony A. Wood, Chris Manzie +1
In this paper, the following question is addressed: given a linear assignment problem, how much can the all of the individual assignment weights be perturbed without changing the o…
Collision Avoidance Based on Robust Lexicographic Task Assignment
Tony A. Wood, Mitchell Khoo, Elad Michael +2
Traditional task assignment approaches for multi-agent motion control do not take the possibility of collisions into account. This can lead to challenging requirements for path pla…
From Uncertainty Data to Robust Policies for Temporal Logic Planning
Pier Giuseppe Sessa, Damian Frick, Tony A. Wood +1
We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications an…
Exploiting structure of chance constrained programs via submodularity
Damian Frick, Pier Giuseppe Sessa, Tony A. Wood +1
We introduce a novel approach to reduce the computational effort of solving mixed-integer convex chance constrained programs through the scenario approach. Instead of reducing the…
Predictive Control of Autonomous Kites in Tow Test Experiments
Tony A. Wood, Henrik Hesse, Roy S. Smith
In this paper we present a model-based control approach for autonomous flight of kites for wind power generation. Predictive models are considered to compensate for delay in the ki…
Robust Control Policies given Formal Specifications in Uncertain Environments
Damian Frick, Tony A. Wood, Gian Ulli +1
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems intera…