Related papers: Distributed Collision-free Protocol for AGVs in In…
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…
Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning methods, e.g., holistic trajectory…
Coordinated multi-robot motion planning at intersections is key for safe mobility in roads, factories and warehouses. The rapidly exploring random tree (RRT) algorithms are popular in multi-robot motion planning. However, generating the…
This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…
DCOP algorithms usually rely on interaction graphs to operate. In open and dynamic environments, such methods need to address how this interaction graph is generated and maintained among agents. Existing methods require reconstructing the…
We present and analyze methods for patrolling an environment with a distributed swarm of robots. Our approach uses a physical data structure - a distributed triangulation of the workspace. A large number of stationary "mapping" robots cover…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
This paper addresses the traffic management problem for autonomous vehicles at intersections without traffic signals. In the current system, a road junction has no traffic signals when the traffic volume is low to medium. Installing…
This paper proposes a cooperative strategy of connected and automated vehicles (CAVs) longitudinal control for partially connected and automated traffic environment based on deep reinforcement learning (DRL) algorithm, which enhances the…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
This paper presents a sensor-level mapless collision avoidance algorithm for use in mobile robots that map raw sensor data to linear and angular velocities and navigate in an unknown environment without a map. An efficient training strategy…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
This paper presents a novel dynamic coverage control algorithm allowing a group of robots to track an optimal-deployment configuration for arbitrary time-varying density functions. Building on singular perturbation theory, the proposed…
This paper develops a novel COllaborative-Online-Learning (COOL)-enabled motion control framework for multi-robot systems to avoid collision amid randomly moving obstacles whose motion distributions are partially observable through…
Autonomous intersection management has the potential to reduce road traffic congestion and energy consumption. To realize this potential, efficient algorithms are needed. However, most existing studies locally optimize one intersection at a…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…