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We observe a large variety of robots in terms of their bodies, sensors, and actuators. Given the commonalities in the skill sets, teaching each skill to each different robot independently is inefficient and not scalable when the large…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…
We study a fundamental cooperative message-delivery problem on the plane. Assume $n$ robots which can move in any direction, are placed arbitrarily on the plane. Robots each have their own maximum speed and can communicate with each other…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
An autonomous mobile robot system is a distributed system consisting of mobile computational entities (called robots) that autonomously and repeatedly perform three operations: Look, Compute, and Move. Various problems related to autonomous…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Human collaborators coordinate effectively their actions through both verbal and non-verbal communication. We believe that the the same should hold for human-robot teams. We propose a formalism that enables a robot to decide optimally…
We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable framework for generating collision-free, dynamically…