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This paper introduces an approach that scales assignment algorithms to large numbers of robots and tasks. It is especially suitable for dynamic task allocations since both task locality and sparsity can be effectively exploited. We observe that an assignment can be computed through coarsening and partitioning operations on the standard utility matrix via a(More)
A team of robots can handle failures and dynamic tasks by repeatedly assigning functioning robots to tasks. This paper introduces an algorithm that scales to large numbers of robots and tasks by exploiting both task locality and sparsity. The algorithm mixes both centralized and decentralized approaches at different scales to produce a fast, robust method(More)
pfam01915 GH_3_C C terminal domain (glucan-binding) 2 22 61 pfam02056 GH_4 β-Glucosidase, α-galactosidase, others 5 18 20 pfam11975 GH_4C C-terminal domain 5 16 26 pfam00150 GH_5 Cellulase 1 1 125 pfam01270 GH_8 Cellulase, Chitosanase, Endoglucanase Y, others 1 0 21 pfam00759 GH_9 Endoglucanase, cellobiohydrolase 0 0 44 pfam00331 GH_10 Xylanase,(More)
Enzyme dynamics has recently been shown to be crucial for structure-function relationship. Among various structure dynamics analysis platforms, HDX (hydrogen deuterium exchange) mass spectrometry stands out as an efficient and high-throughput way to analyze protein dynamics upon ligand binding. Despite the potential, limited research has employed the HDX(More)
The assignment problem arises in multi-robot taskallocation scenarios. This paper introduces an algorithm for solving the assignment problem with several appealing features for online, distributed robotics applications. The method can start with any initial matching and incrementally improve the solution to reach the global optimum, producing valid(More)
We consider the problem of multi-robot task-allocation when robots have to deal with uncertain utility estimates. Typically an allocation is performed to maximize expected utility; we consider a means for measuring the robustness of a given optimal allocation when robots have some measure of the uncertainty (e.g., a probability distribution, or moments of(More)
HDX mass spectrometry is a powerful platform to probe protein structure dynamics during ligand binding, protein folding, enzyme catalysis, and such. HDX mass spectrometry analysis derives the protein structure dynamics based on the mass increase of a protein of which the backbone protons exchanged with solvent deuterium. Coupled with enzyme digestion and(More)
Many multi-robot scenarios involve navigation of a set of networked robots through a constrained environment to achieve coverage, maintain a predefined shape, sense at predefined locations, or to satisfy some other distance-defined property. When new robots and tasks are added to a network of already deployed interchangeable robots, a trade-off arises in(More)
High abundance proteins like ribulose-1,5-bisphosphate carboxylase oxygenase (Rubisco) impose a consistent challenge for the whole proteome characterization using shot-gun proteomics. To address this challenge, we developed and evaluated Polyethyleneimine Assisted Rubisco Cleanup (PARC) as a new method by combining both abundant protein removal and(More)