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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
A Resource-Efficient Decentralized Sequential Planner for...
Josy John, Shridhar Velhal, Suresh Sundaram · 2024-07-27 · via cs.RO updates on arXiv.org

This paper proposes a Conflict-aware Resource-Efficient Decentralized Sequential planner (CREDS) for early wildfire mitigation using multiple heterogeneous Unmanned Aerial Vehicles (UAVs). Multi-UAV wildfire management scenarios are non-stationary, with spatially clustered dynamically spreading fires, potential pop-up fires, and partial observability due to limited UAV numbers and sensing range. The objective of CREDS is to detect and sequentially mitigate all growing fires as Single-UAV Tasks (SUT), minimizing biodiversity loss through rapid UAV intervention and promoting efficient resource utilization by avoiding complex multi-UAV coordination. CREDS employs a three-phased approach, beginning with fire detection using a search algorithm, followed by local trajectory generation using the auction-based Resource-Efficient Decentralized Sequential planner (REDS), incorporating the novel non-stationary cost function, the Deadline-Prioritized Mitigation Cost (DPMC). Finally, a conflict-aware consensus algorithm resolves conflicts to determine a global trajectory for spatiotemporal mitigation. The performance evaluation of the CREDS for partial and full observability conditions with both heterogeneous and homogeneous UAV teams for different fires-to-UAV ratios demonstrates a $100\%$ success rate for ratios up to $4$ and a high success rate for the critical ratio of $5$, outperforming baselines. Heterogeneous UAV teams outperform homogeneous teams in handling heterogeneous deadlines of SUT mitigation. CREDS exhibits scalability and $100\%$ convergence, demonstrating robustness against potential deadlock assignments, enhancing its success rate compared to the baseline approaches.