Y. Litus

Publications9
h-index4
Citations118
Highly Influential Citations5
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The Frugal Feeding Problem: Energy-efficient, multi-robot, multi-place rendezvous
TLDR
This work considers the problem of finding an energy-efficient route for a service robot to rendezvous with every member of a heterogeneous team of mobile worker robots and proposes and compares two numerical algorithms for the continuous case with weighted Euclidean distance energy cost functions.
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Energy Efficient Robot Rendezvous
We examine the problem of finding a single meeting location for a group of heterogeneous autonomous mobile robots, such that the total system cost of traveling to the rendezvous is minimized. We…
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Fall in! Sorting a Group of Robots with a Continuous Controller
  • Y. Litus, R. Vaughan
  • Computer Science
    Canadian Conference on Computer and Robot Vision
  • 31 May 2010
TLDR
This paper describes the first robotic system that solves a combinatorial computational problem by means of its own continuous dynamics, and can withstand perturbations introduced into the ideal dynamics by the physical limitations of real robots.
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A Distributed Heuristic for Energy-Efficient Multirobot Multiplace Rendezvous
TLDR
A simple heuristic controller that runs independently on each robot, yet is guaranteed to achieve an approximation to global solution in bounded time linear in population size is presented.
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Distributed Gradient Optimization with Embodied Approximation
TLDR
It is suggested that embodied approximations can be used by living distributed systems to find affordable solutions to the optimization tasks they face and are illustrated by giving solutions to two non-trivial realistic optimization tasks from the robotics domain.
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What a Sunflower Can Teach a Robot? - Efficient Robot Queuing by Reverse Phyllotaxis
TLDR
The distributed multi-robot controller is based on sunflower phyllotaxis and inherits its efficient packing properties and shows unexpectedly high tolerance to spatial interference between robots.
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MINING CHANGING REGIONS FROM ACCESS- CONSTRAINED DATA SETS: A CLUSTER-EMBEDDED DECISION TREE APPROACH
TLDR
This work proposes a simple yet effective model-based approach to change detection that can detect changes accurately and effectively and compares the two corresponding cluster-embedded decision trees.
Autonomous Sustain and Resupply, Phase 1 Report
Abstract : This report presents our progress to date on the DRDC Autonomous Sustain and Resupply project. We are using the ASR problem as the key motivating problem for the AI and autonomy research…
Using spatial embeddedness and physical embodiment for computation in multi-robot systems
TLDR
This thesis shows that a multi-robot system can use physical embodiment and spatial embeddedness as computational resources for two types of problems: a continuous optimization problem of achieving optimal joint robot team configuration, and a combinatorial problem of sorting robots.