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Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
In this work we consider a generalization of the well-known multivehicle routing problem: given a network, a set of agents occupying a subset of its nodes, and a set of tasks, we seek a minimum cost sequence of movements subject to the…
This paper presents an algorithm for a team of mobile robots to simultaneously learn a spatial field over a domain and spatially distribute themselves to optimally cover it. Drawing from previous approaches that estimate the spatial field…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…
This paper investigates the localization problem of a network in 2-D and 3-D spaces given the positions of anchor nodes in a global frame and inter-node relative measurements in local coordinate frames. It is assumed that the local frames…
This paper presents a cooperative multi-robot multi-target tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network and, consequently, improving overall target tracking accuracy. The concept of normalized…
State-of-the-art distributed algorithms for reinforcement learning rely on multiple independent agents, which simultaneously learn in parallel environments while asynchronously updating a common, shared policy. Moreover, decentralized…
Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with limited field of view (FOV) sensors: adaptive tuning of interaction gains and rejection of sensor attacks. First, a typical…
While many robotic tasks can be addressed using either centralized single-agent control with full state observation or decentralized multi-agent control, clear criteria for choosing between these approaches remain underexplored. This paper…
When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…