Related papers: Technical Report: Cooperative Multi-Target Localiz…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Effective communication is crucial for deploying robots in mission-specific tasks, but inadequate or unreliable communication can greatly reduce mission efficacy, for example in search and rescue missions where communication-denied…
This paper addresses the challenge of assigning heterogeneous sensors (i.e., robots with varying sensing capabilities) for multi-target tracking. We classify robots into two categories: (1) sufficient sensing robots, equipped with range and…
We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…
Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…
This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
An important real-world application of multi-robot systems is multi-robot patrolling (MRP), where robots must carry out the activity of going through an area at regular intervals. Motivations for MRP include the detection of anomalies that…
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
High-resolution tactile sensing can provide accurate information about local contact in contact-rich robotic tasks. However, the deployment of such tasks in unstructured environments remains under-investigated. To improve the robustness of…
In this work, we investigate the performance of a joint sensing and communication (JSC) network consisting of multiple base stations (BSs) that cooperate through a fusion center (FC) to exchange information about the sensed environment…
In the past decade, although single-robot perception has made significant advancements, the exploration of multi-robot collaborative perception remains largely unexplored. This involves fusing compressed, intermittent, limited,…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
In this paper, we address the problem of simultaneous classification and estimation of hidden parameters in a sensor network with communications constraints. In particular, we consider a network of noisy sensors which measure a common…
In this paper, we address the problem of controlling a network of mobile sensors so that a set of hidden states are estimated up to a user-specified accuracy. The sensors take measurements and fuse them online using an Information Consensus…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Multitarget tracking in the interference environments suffers from the nonuniform, unknown and time-varying clutter, resulting in dramatic performance deterioration. We address this challenge by proposing a robust multitarget tracking…