Performing object retrieval tasks in messy real-world workspaces involves the challenges of \emph{uncertainty} and \emph{clutter}. One option is to solve retrieval problems via a sequence of prehensile pick-n-place operations, which can be computationally expensive to compute in highly-cluttered scenarios and also inefficient to execute. The proposed framework selects the option of performing non-prehensile actions, such as pushing, to clean a cluttered workspace to allow a robotic arm to retrieve a target object. Non-prehensile actions, allow to interact simultaneously with multiple objects, which can speed up execution. At the same time, they can significantly increase uncertainty as it is not easy to accurately estimate the outcome of a pushing operation in clutter. The proposed framework integrates topological tools and Monte-Carlo tree search to achieve effective and robust pushing for object retrieval problems. In particular, it proposes using persistent homology to automatically identify manageable clustering of blocking objects in the workspace without the need for manually adjusting hyper-parameters. Furthermore, MCTS uses this information to explore feasible actions to push groups of objects together, aiming to minimize the number of pushing actions needed to clear the path to the target object. Real-world experiments using a Baxter robot, which involves some noise in actuation, show that the proposed framework achieves a higher success rate in solving retrieval tasks in dense clutter compared to state-of-the-art alternatives. Moreover, it produces high-quality solutions with a small number of pushing actions improving the overall execution time. More critically, it is robust enough that it allows to plan the sequence of actions offline and then execute them reliably online with Baxter.

Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere world is essential and, at the same time, challenging. This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with obstacles of arbitrary shapes. The properties of the conformal navigation transformation, including uniqueness, invariance of navigation properties, and no angular deformation, are investigated, which contribute to the solution of the robot navigation problem in complex environments. Based on navigation functions and the proposed transformation, feedback controllers are derived for the automatic guidance and motion control of kinematic and dynamic mobile robots. Moreover, an iterative method is proposed to construct the conformal navigation transformation in a multiply-connected workspace, which transforms the multiply-connected problem into multiple simply-connected problems to achieve fast convergence. In addition to the analytic guarantees, simulation studies verify the effectiveness of the proposed methodology in workspaces with non-trivial obstacles.

Package delivery via the UAVs is a promising transport mode to provide efficient and green logistic services, especially in urban areas or complicated topography. However, the energy storage limit of the UAV makes it difficult to perform long-distance delivery tasks. In this paper, we propose a novel multimodal logistics framework, in which the UAVs can call on ground vehicles to provide hitch services to save their own energy and extend their delivery distance. This multimodal logistics framework is formulated as a two-stage model to jointly consider the incentive mechanism design for ground vehicles and path planning for UAVs. In Stage I, to deal with the motivations for ground vehicles to assist UAV delivery, a dynamic pricing scheme is proposed to best balance the vehicle response time and payments to ground vehicles. It shows that a higher price should be decided if the vehicle response time is long to encourage more vehicles to offer a ride. In Stage II, the task allocation and path planning of the UAVs over traffic network is studied based on the vehicle response time obtained in Stage I. To address pathfinding with restrictions and the performance degradation of the pathfinding algorithm due to the rising number of conflicts in multi-agent pathfinding, we propose the suboptimal conflict avoidance-based path search (CABPS) algorithm, which has polynomial time complexity. Finally, we validate our results via simulations. It is shown that our approach is able to increase the success rate of UAV package delivery. Moreover, we estimate the delivery time of the UAV in a pessimistic case, it is still twice as fast as the delivery time of the ground vehicle only.

INTRODUCTION Adaptive planning is ideally suited for the deep uncertainties presented by climate change. While there is a robust scholarship on the theory and methods of adaptive planning, this has largely neglected how adaptive planning is affected by existing planning institutions and how to move forward within the constraints of traditional planning organizations. This study asks: How do existing traditional planning institutions support adaptive planning? We explore this for flood planning in the Lower Rio Grande Valley of Texas, United States. We draw on county hazard plan and regional flood plan documents as well as transcripts of regional flood planning meetings to explore the emergent topics of these institutional outputs. Using Natural Language Processing to analyze this large amount of text, we find that hazard plans and discussions developing these plans are largely lacking an adaptive approach. KEYWORDS adaptive planning; uncertainty; flood plan; Rio Grande Valley INTRODUCTION Planning for natural hazard risk reduction in the context climate change involves decision making under conditions of interacting, multiple uncertainties. Some of these are "deep uncertainties" connected to long time horizons, nonlinear changes in climates and ecosystems, and inability to reliably quantify the rate and magnitude of climate changes (Babovic & Mijic, 2018; Bosomworth & Gaillard, 2019). Other uncertainties are associated with the ambiguities and unpredictability of socioeconomic systems, including population growth, land use change, social conflict, and the whims of political will (Babovic & Mijic 2019; Buurman & Babovic, 2014). In the face of these uncertainties, a new paradigm of decision making has emerged that emphasizes the development of adaptive plans and policies (Hassnoot et al., 2013; Walker et al., 2013). Traditional planning approaches typically generate a static optimal plan to reduce vulnerability to a single'most likely' future or to respond a wide range of plausible future scenarios (Haasnoot et al., 2013; Manocha & Babovic, 2018). Because the future is largely unknowable, static optimal plans are likely to fail and adaptations are made adhoc to adjust to emerging risk conditions (Haasnoot et al., 2013).

The paper presents a novel learning-based sampling strategy that guarantees rejection-free sampling of the free space under both biased and approximately uniform conditions, leveraging multivariate kernel densities. Historical data from past states of a given autonomous system is leveraged to estimate a non-parametric probabilistic description of the domain, which in turn also describes the free space where feasible solutions of the motion planning problem are likely to be found. The tuning parameters of the kernel density estimator, the bandwidth and the kernel, are then used to alter the description of the free space so that no sampled states can fall outside the originally defined space. The proposed method is demonstrated in two real-life case studies: An autonomous surface vessel (2D) and an autonomous drone (3D). Two planning problems are solved, showing that the proposed approximately uniform sampling scheme is capable of guaranteeing rejection-free sampling of the considered workspace. Furthermore, the planning effectiveness of the proposed method is statistically validated using Monte Carlo simulations.

Whilst assistive robots [7] have been embedded into social and health care environments [1, 2, 10], they have largely been limited to simple applications, such as support for social and physical activities and hall monitoring, but often without considering potential interactions with humans. To expand the range of these applications, the human user and the robot need to interact in order to perform tasks together [4]. As such, this interaction, which is still underexplored in the social care domain, should be prioritised, with an emphasis on the safety of the human [3, 9]. To enable the development of applications that support such interaction and to ensure its safety, we propose an adaptive mission and path finding framework for an autonomous robot operating in a homecare environment. The framework models the environment as a graph, with nodes representing key locations within the environment where the robot can perform local tasks. Missions are modelled as a repertoire of locations within the environment where a task requires completion. The main contributions of our'research preview' paper are: (i) a generalised approach for modelling environments as graphs with edges represented as levels of risk, (ii) a modified Dijkstra's algorithm for performing path finding in uncertain environments with a cost function to reduce risk, (iii) simple human predictive behaviour model that forecasts human intention allowing for adaptive path finding using heat maps to artificially increase the risk associated with specific edges in the graph, (iv) a framework that combines modelling methods, adaptive path finding techniques and run-time probabilistic model generation for safety verification into an end-to-end solution for autonomous robotic mission planning, (v) finally, a simulation-based case study that shows the effectiveness of the framework.

This work considers the scheduling problem for Urban Air Mobility (UAM) vehicles travelling between origin-destination pairs with both hard and soft trip deadlines. Each route is described by a discrete probability distribution over trip completion times (or delay) and over inter-arrival times of requests (or demand) for the route along with a fixed hard or soft deadline. Soft deadlines carry a cost that is incurred when the deadline is missed. An online, safe scheduler is developed that ensures that hard deadlines are never missed, and that average cost of missing soft deadlines is minimized. The system is modelled as a Markov Decision Process (MDP) and safe model-based learning is used to find the probabilistic distributions over route delays and demand. Monte Carlo Tree Search (MCTS) Earliest Deadline First (EDF) is used to safely explore the learned models in an online fashion and develop a near-optimal non-preemptive scheduling policy. These results are compared with Value Iteration (VI) and MCTS (Random) scheduling solutions.

Two common approaches to sequential decision-making are AI planning (AIP) and reinforcement learning (RL). Each has strengths and weaknesses. AIP is interpretable, easy to integrate with symbolic knowledge, and often efficient, but requires an up-front logical domain specification and is sensitive to noise; RL only requires specification of rewards and is robust to noise but is sample inefficient and not easily supplied with external knowledge. We propose an integrative approach that combines high-level planning with RL, retaining interpretability, transfer, and efficiency, while allowing for robust learning of the lower-level plan actions. Our approach defines options in hierarchical reinforcement learning (HRL) from AIP operators by establishing a correspondence between the state transition model of AI planning problem and the abstract state transition system of a Markov Decision Process (MDP). Options are learned by adding intrinsic rewards to encourage consistency between the MDP and AIP transition models. We demonstrate the benefit of our integrated approach by comparing the performance of RL and HRL algorithms in both MiniGrid and N-rooms environments, showing the advantage of our method over the existing ones.

This paper describes a revision of the classic Lazy Probabilistic Roadmaps algorithm (Lazy PRM), that results from pairing PRM and a novel Branch-and-Cut (BC) algorithm. Cuts are dynamically generated constraints that are imposed on minimum cost paths over the geometric graphs selected by PRM. Cuts eliminate paths that cannot be mapped into smooth plans that satisfy suitably defined kinematic constraints. We generate candidate smooth plans by fitting splines to vertices in minimum-cost path. Plans are validated with a recently proposed algorithm that maps them into finite traces, without need to choose a fixed discretization step. Trace elements exactly describe when plans cross constraint boundaries modulo arithmetic precision. We evaluate several planners using our methods over the recently proposed BARN benchmark, and we report evidence of the scalability of our approach.

We present a formal tasK AllocatioN and scheduling apprOAch for multi-robot missions (KANOA). KANOA supports two important types of task constraints: task ordering, which requires the execution of several tasks in a specified order; and joint tasks, which indicates tasks that must be performed by more than one robot. To mitigate the complexity of robotic mission planning, KANOA handles the allocation of the mission tasks to robots, and the scheduling of the allocated tasks separately. To that end, the task allocation problem is formalised in first-order logic and resolved using the Alloy model analyzer, and the task scheduling problem is encoded as a Markov decision process and resolved using the PRISM probabilistic model checker. We illustrate the application of KANOA through a case study in which a heterogeneous robotic team is assigned a hospital maintenance mission.