44 papers
Principles of Robot Autonomy
Daniele Gammelli, Joseph Lorenzetti, Katie Luo +2
Autonomous robots are moving rapidly from research labs into everyday life - on roads, in the air, in warehouses, and in space. Robot autonomy is no longer solely an academic pursu…
Vehicle Rebalancing Under Adherence Uncertainty
Avalpreet Singh Brar, Rong Su, Christos G. Cassandras +3
Ride-hailing platforms frequently face spatiotemporal supply-demand imbalances caused by uneven passenger demand and decentralized driver decision-making. Existing vehicle rebalanc…
Dual-Informed Vertical Expansion for Multi-Objective Node Selection in Anytime Conflict-Based Search
Willem van Osselaer, Jiarui Li, Meshal Alharbi +1
Conflict-Based Search (CBS) is a leading exact algorithm for Multi-Agent Path Finding (MAPF), but its high-level node-selection rule is usually treated as a fixed implementation de…
Adaptive-Horizon Conflict-Based Search for Closed-Loop Multi-Agent Path Finding
Jiarui Li, Federico Pecora, Runyu Zhang +1
Multi-Agent Path Finding (MAPF) is a core coordination problem for large robot fleets in automated warehouses and logistics. Existing approaches are typically either open-loop plan…
Uncertainty-Aware End-to-End Co-Design of Neural Network Processors: From Training and Mapping to Fabrication
Yuyang Du, Yujun Huang, Gioele Zardini
Designing a neural network processor is an end-to-end co-design problem: network architecture and training budget determine the inference workload; hardware mapping decisions deter…
Implementation-Based Incentive Design for Autonomous Mobility-on-Demand and Transit Systems
Xinling Li, Runyu Zhang, Gioele Zardini
Achieving a socially desirable operating point for a multimodal transportation system is challenging when Autonomous Mobility-on-Demand (AMoD) and Public Transit (PT) operators pur…