Changjoo Nam

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— We consider optimization of the multi-robot task-allocation (MRTA) problem when the overall performance of the team need not be a standard sum-of-utilities (or costs) model. We introduce a generalization which allows for the additional cost incurred by resource contention to be treated in a straightforward manner. In this variant, robots may have multiple(More)
— In this paper, we propose an algorithmic compass that yields the heading information of a mobile robot using the vanishing point in indoor environments: VPass. With the VPass, a loop-closing effect (which is a significant reduction of errors by revisiting a known place through a loop) can be achieved even for a loop-less environment. From the(More)
— We address the problem of finding the optimal assignment of tasks to a team of robots when the associated costs may vary, which arises when robots deal with uncertain or dynamic situations. We detail how to compute a sensitivity analysis that characterizes how much costs may change before optimality is violated. Using this analysis, robots are able to(More)
We consider the problem of finding the optimal assignment of tasks to a team of robots when the costs associated with the tasks may vary. This arises often because robots typically update their cost estimates and re-compute task assignments to deal with dynamic situations (e.g., the addition of new robots to the team, arrival of new tasks, or the revelation(More)
This paper studies multi-robot task allocation in a setting where tasks are revealed sequentially and where it is possible to execute bundles of tasks. Particularly, we are interested in tasks that have synergies so that the greater the number of tasks executed together, the larger the potential performance gain. We consider tasks that are fed to robots for(More)
—We consider multi-robot teams operating in uncertain dynamic settings where the costs used for computing task-allocations are not known exactly. In such cases, the desire to minimize the team's expected cost might need to be curtailed if, in so doing, the risk that results is intolerable. We describe a parameterizable variant of the assignment problem that(More)
—We consider a multi-robot task allocation (MRTA) problem where costs of performing tasks are interrelated so that the overall performance of the team need not be a standard sum-of-costs (or utilities) model. The generalized optimization form we introduce allows for additional costs incurred by resource contention to be treated straightforwardly. In this(More)
We consider optimization of the multi-robot task-allocation (MRTA) problem when the overall performance of the team need not be a standard sum-of-utilities (or costs) model. We introduce a generalization which allows for the additional cost incurred by resource contention to be treated in a straightforward manner. In this variant, robots may have multiple(More)
— In this paper, we propose a new design of a flexible enveloping grasper for pick and place tasks with the low complexity in manipulation and task planning for the purpose of practical use in the near future. Flexible material for the grasper has many advantageous characteristics inherently including robustness against manipulation errors and the ability(More)