Related papers: Robust multirobot coordination using priority enco…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
In this paper, we consider the multi-robot path execution problem where a group of robots move on predefined paths from their initial to target positions while avoiding collisions and deadlocks in the face of asynchrony. We first show that…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
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…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…