Related papers: Gossip Coverage Control for Robotic Networks: Dyna…

Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g.,…

A dynamic autonomy allocation framework automatically shifts how much control lies with the human versus the robotics autonomy, for example based on factors such as environmental safety or user preference. To investigate the question of…

We consider several algorithms for exploring and filling an unknown, connected region, by simple, airborne agents. The agents are assumed to be identical, autonomous, anonymous and to have a finite amount of memory. The region is modeled as…

We study the dynamics of information (or virus) dissemination by $m$ mobile agents performing independent random walks on an $n$-node grid. We formulate our results in terms of two scenarios: broadcasting and gossiping. In the broadcasting…

We introduce models of gossip based communication networks in which each node is simultaneously a sensor, a relay and a user of information. We model the status of ages of information between nodes as a discrete time Markov chain. In this…

This paper develops a method for robots to integrate stability into actively seeking out informative measurements through coverage. We derive a controller using hybrid systems theory that allows us to consider safe equilibrium policies…

In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…

To perform cooperative tasks in a decentralized manner, multi-robot systems are often required to communicate with each other. Therefore, maintaining the communication graph connectivity is a fundamental issue when roaming a territory with…

This article presents a distributed algorithm for a group of robotic agents with omnidirectional vision to deploy into nonconvex polygonal environments with holes. Agents begin deployment from a common point, possess no prior knowledge of…

Teams of cooperating autonomous underwater vehicles (AUVs) rely on acoustic communication for coordination, yet this communication medium is constrained by limited range, multi-path effects, and low bandwidth. One way to address the…

The paper presents the propagation analysis of ultrawideband Gaussian signal in an automated collaborative warehouse environment where human and robots communicate to ensure that mutual collisions do not occur. The warehouse racks are…

In this paper we propose search strategies for heterogeneous multi-agent systems. Multiple agents, equipped with communication gadget, computational capability, and sensors having heterogeneous capabilities, are deployed in the search space…

In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…

Coverage path planning is a well-studied problem in robotics in which a robot must plan a path that passes through every point in a given area repeatedly, usually with a uniform frequency. To address the scenario in which some points need…

Federated learning has emerged as a privacy-preserving technique for collaborative model training across heterogeneously distributed silos. Yet, its reliance on a single central server introduces potential bottlenecks and risks of…

This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…

Assuming a random uniform distribution of n sensor nodes over a virtual grid, this paper addresses the problem of finding the maximum number of connected set covers each ensuring 100% coverage of the query region. The connected sets remain…

This work is devoted to communication approaches, which spread information in robot swarms. These mechanisms are useful for large-scale systems and also for such cases when a limited communication equipment does not allow routing of…

We present a family of gossiping algorithms whose members share the same structure though they vary their performance in function of a combinatorial parameter. We show that such parameter may be considered as a "knob" controlling the amount…

We report on our effort to create a corpus dataset of different social context situations in an office setting for further disciplinary and interdisciplinary research in computer vision, psychology, and human-robot-interaction. For social…