In many risk-aware and multi-objective reinforcement learning settings, the utility of the user is derived from a single execution of a policy. In these settings, making decisions based on the average future returns is not suitable. For example, in a medical setting a patient may only have one opportunity to treat their illness. Making decisions using just the expected future returns -- known in reinforcement learning as the value -- cannot account for the potential range of adverse or positive outcomes a decision may have. Therefore, we should use the distribution over expected future returns differently to represent the critical information that the agent requires at decision time by taking both the future and accrued returns into consideration. In this paper, we propose two novel Monte Carlo tree search algorithms. Firstly, we present a Monte Carlo tree search algorithm that can compute policies for nonlinear utility functions (NLU-MCTS) by optimising the utility of the different possible returns attainable from individual policy executions, resulting in good policies for both risk-aware and multi-objective settings. Secondly, we propose a distributional Monte Carlo tree search algorithm (DMCTS) which extends NLU-MCTS. DMCTS computes an approximate posterior distribution over the utility of the returns, and utilises Thompson sampling during planning to compute policies in risk-aware and multi-objective settings. Both algorithms outperform the state-of-the-art in multi-objective reinforcement learning for the expected utility of the returns.

Algorithms with predictions is a recent framework that has been used to overcome pessimistic worst-case bounds in incomplete information settings. In the context of scheduling, very recent work has leveraged machine-learned predictions to design algorithms that achieve improved approximation ratios in settings where the processing times of the jobs are initially unknown. In this paper, we study the speed-robust scheduling problem where the speeds of the machines, instead of the processing times of the jobs, are unknown and augment this problem with predictions. Our main result is an algorithm that achieves a $\min\{\eta^2(1+\alpha), (2 + 2/\alpha)\}$ approximation, for any $\alpha \in (0,1)$, where $\eta \geq 1$ is the prediction error. When the predictions are accurate, this approximation outperforms the best known approximation for speed-robust scheduling without predictions of $2-1/m$, where $m$ is the number of machines, while simultaneously maintaining a worst-case approximation of $2 + 2/\alpha$ even when the predictions are arbitrarily wrong. In addition, we obtain improved approximations for three special cases: equal job sizes, infinitesimal job sizes, and binary machine speeds. We also complement our algorithmic results with lower bounds. Finally, we empirically evaluate our algorithm against existing algorithms for speed-robust scheduling.

In this paper, we examine the problem of visibility-aware robot navigation among movable obstacles (VANAMO). A variant of the well-known NAMO robotic planning problem, VANAMO puts additional visibility constraints on robot motion and object movability. This new problem formulation lifts the restrictive assumption that the map is fully visible and the object positions are fully known. We provide a formal definition of the VANAMO problem and propose the Look and Manipulate Backchaining (LaMB) algorithm for solving such problems. LaMB has a simple vision-based API that makes it more easily transferable to real-world robot applications and scales to the large 3D environments. To evaluate LaMB, we construct a set of tasks that illustrate the complex interplay between visibility and object movability that can arise in mobile base manipulation problems in unknown environments. We show that LaMB outperforms NAMO and visibility-aware motion planning approaches as well as simple combinations of them on complex manipulation problems with partial observability.

Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, coverage path planning benefits greatly from multiple robots. In this paper, we describe Turn-minimizing Multirobot Spanning Tree Coverage Star(TMSTC*), an improved multirobot coverage path planning (mCPP) algorithm based on the MSTC*. Our algorithm partitions the map into minimum bricks as tree's branches and thereby transforms the problem into finding the maximum independent set of bipartite graph. We then connect bricks with greedy strategy to form a tree, aiming to reduce the number of turns of corresponding circumnavigating coverage path. Our experimental results show that our approach enables multiple robots to make fewer turns and thus complete terrain coverage tasks faster than other popular algorithms.

This article establishes the novel D$^*_+$, a risk-aware and platform-agnostic heterogeneous global path planner for robotic navigation in complex environments. The proposed planner addresses a fundamental bottleneck of occupancy-based path planners related to their dependency on accurate and dense maps. More specifically, their performance is highly affected by poorly reconstructed or sparse areas (e.g. holes in the walls or ceilings) leading to faulty generated paths outside the physical boundaries of the 3-dimensional space. As it will be presented, D$^*_+$ addresses this challenge with three novel contributions, integrated into one solution, namely: a) the proximity risk, b) the modeling of the unknown space, and c) the map updates. By adding a risk layer to spaces that are closer to the occupied ones, some holes are filled, and thus the problematic short-cutting through them to the final goal is prevented. The novel established D$^*_+$ also provides safety marginals to the walls and other obstacles, a property that results in paths that do not cut the corners that could potentially disrupt the platform operation. D$^*_+$ has also the capability to model the unknown space as risk-free areas that should keep the paths inside, e.g in a tunnel environment, and thus heavily reducing the risk of larger shortcuts through openings in the walls. D$^*_+$ is also introducing a dynamic map handling capability that continuously updates with the latest information acquired during the map building process, allowing the planner to use constant map growth and resolve cases of planning over outdated sparser map reconstructions...

Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for its extensive applications, such as airport ground, drone swarms, and automatic warehouses. Despite these available research results, most of the existing investigations are concerned with the cases of robots with a fixed movement speed without considering uncertainty. Therefore, in this work, we study the problem of path-planning in the multi-robot automatic warehouse context, which considers the time-varying and uncertain robots' movement speed. Specifically, the path-planning module searches a path with as few conflicts as possible for a single agent by calculating traffic cost based on customarily distributed conflict probability and combining it with the classic A* algorithm. However, this probability-based method cannot eliminate all conflicts, and speed's uncertainty will constantly cause new conflicts. As a supplement, we propose the other two modules. The conflict detection and re-planning module chooses objects requiring re-planning paths from the agents involved in different types of conflicts periodically by our designed rules. Also, at each step, the scheduling module fills up the agent's preserved queue and decides who has a higher priority when the same element is assigned to two agents simultaneously. Finally, we compare the proposed algorithm with other algorithms from academia and industry, and the results show that the proposed method is validated as the best performance.

The essential task of urban planning is to generate the optimal land-use configuration of a target area. However, traditional urban planning is time-consuming and labor-intensive. Deep generative learning gives us hope that we can automate this planning process and come up with the ideal urban plans. While remarkable achievements have been obtained, they have exhibited limitations in lacking awareness of: 1) the hierarchical dependencies between functional zones and spatial grids; 2) the peer dependencies among functional zones; and 3) human regulations to ensure the usability of generated configurations. To address these limitations, we develop a novel human-instructed deep hierarchical generative model. We rethink the urban planning generative task from a unique functionality perspective, where we summarize planning requirements into different functionality projections for better urban plan generation. To this end, we develop a three-stage generation process from a target area to zones to grids. The first stage is to label the grids of a target area with latent functionalities to discover functional zones. The second stage is to perceive the planning requirements to form urban functionality projections. We propose a novel module: functionalizer to project the embedding of human instructions and geospatial contexts to the zone-level plan to obtain such projections. Each projection includes the information of land-use portfolios and the structural dependencies across spatial grids in terms of a specific urban function. The third stage is to leverage multi-attentions to model the zone-zone peer dependencies of the functionality projections to generate grid-level land-use configurations. Finally, we present extensive experiments to demonstrate the effectiveness of our framework.

This paper considers theoretical solutions for path planning problems under non-probabilistic uncertainty used in the travel salesman problems under uncertainty. The uncertainty is on the paths between the cities as nodes in a travelling salesman problem. There is at least one path between two nodes/stations where the travelling time between the nodes is not precisely known. This could be due to environmental effects like crowdedness (rush period) in the path, the state of the charge of batteries, weather conditions, or considering the safety of the route while travelling. In this work, we consider two different advanced uncertainty models (i) probabilistic-precise uncertain model: Probability distributions and (ii) non-probabilistic--imprecise uncertain model: Intervals. We investigate what theoretical results can be obtained for two different optimality criteria: maximinity and maximality in the travelling salesman problem.

In this paper, we view a policy or plan as a transition system over a space of information states that reflect a robot's or other observer's perspective based on limited sensing, memory, computation, and actuation. Regardless of whether policies are obtained by learning algorithms, planning algorithms, or human insight, we want to know the limits of feasibility for given robot hardware and tasks. Toward the quest to find the best policies, we establish in a general setting that minimal information transition systems (ITSs) exist up to reasonable equivalence assumptions, and are unique under some general conditions. We then apply the theory to generate new insights into several problems, including optimal sensor fusion/filtering, solving basic planning tasks, and finding minimal representations for feasible policies.

Action abstractions restrict the number of legal actions available for real-time planning in zero-sum extensive-form games, thus allowing algorithms to focus their search on a set of promising actions. Even though unabstracted game trees can lead to optimal policies, due to real-time constraints and the tree size, they are not a practical choice. In this context, we introduce an action abstraction scheme which we call asymmetric action abstraction. Asymmetric abstractions allow search algorithms to "pay more attention" to some aspects of the game by unevenly dividing the algorithm's search effort amongst different aspects of the game. We also introduce four algorithms that search in asymmetrically abstracted game trees to evaluate the effectiveness of our abstraction schemes. Two of our algorithms are adaptations of algorithms developed for searching in action-abstracted spaces, Portfolio Greedy Search and Stratified Strategy Selection, and the other two are adaptations of an algorithm developed for searching in unabstracted spaces, NaïveMCTS. An extensive set of experiments in a real-time strategy game shows that search algorithms using asymmetric abstractions are able to outperform all other search algorithms tested.