Related papers: Efficient Informative Sensing using Multiple Robot…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
Inspection of infrastructure using static sensor nodes has become a well established approach in recent decades. In this work, we present an experimental setup to address a binary inspection task using mobile sensor nodes. The objective is…
In this paper, an indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and robotic users. Both single-user and multiple-user…
With the pervasiveness of Stochastic Shortest-Path (SSP) problems in high-risk industries, such as last-mile autonomous delivery and supply chain management, robust planning algorithms are crucial for ensuring successful task completion…
Inspection planning, the task of planning motions that allow a robot to inspect a set of points of interest, has applications in domains such as industrial, field, and medical robotics. Inspection planning can be computationally…
In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions…
Multi-robot navigation and path planning in continuous state and action spaces with uncertain environments remains an open challenge. Deep Reinforcement Learning (RL) is one of the most popular paradigms for solving this task, but its…
Complex multi-robot missions often require heterogeneous teams to jointly optimize task allocation, scheduling, and path planning to improve team performance under strict constraints. We formalize these complexities into a new class of…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
The inspection-planning problem calls for computing motions for a robot that allow it to inspect a set of points of interest (POIs) while considering plan quality (e.g., plan length). This problem has applications across many domains where…
In this letter, we consider the Multi-Robot Efficient Search Path Planning (MESPP) problem, where a team of robots is deployed in a graph-represented environment to capture a moving target within a given deadline. We prove this problem to…
In a typical path planning pipeline for a ground robot, we build a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating indoors, a ground robot's knowledge about the environment may be limited due to…
Robust and fine localization algorithms are crucial for autonomous driving. For the production of such vehicles as a commodity, affordable sensing solutions and reliable localization algorithms must be designed. This work considers…
Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…
Signal source localization has been a problem of interest in the multi-robot systems domain given its applications in search & rescue and hazard localization in various industrial and outdoor settings. A variety of multi-robot search…
An informative measurement is the most efficient way to gain information about an unknown state. We present a first-principles derivation of a general-purpose dynamic programming algorithm that returns an optimal sequence of informative…
This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…
Adaptive informative path planning (AIPP) is important to many robotics applications, enabling mobile robots to efficiently collect useful data about initially unknown environments. In addition, learning-based methods are increasingly used…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
The agricultural irrigation system is closely related to agricultural production. There are some problems in nowadays agricultural irrigation system, such as poor mobility, imprecision and high price. To address these issues, an intelligent…