Related papers: Exploration via Structured Triangulation by a Mult…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Collaborative Simultaneous Localization and Mapping (CSLAM) is a critical capability for enabling multiple robots to operate in complex environments. Most CSLAM techniques rely on the transmission of low-level features for visual and…
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
As the robot explores the environment, the map grows over time in the simultaneous localization and mapping (SLAM) system, especially for the large scale environment. The ever-growing map prevents long-term mapping. In this paper, we…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…
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…
Vision-based cooperative motion estimation is an important problem for many multi-robot systems such as cooperative aerial target pursuit. This problem can be formulated as bearing-only cooperative motion estimation, where the visual…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The robots are equipped with individual sensors that allow them…
In indoor environments, multi-robot visual (RGB-D) mapping and exploration hold immense potential for application in domains such as domestic service and logistics, where deploying multiple robots in the same environment can significantly…
Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…
Multi-robot motion planning problems often have many local minima. It is essential to visualize those local minima such that we can better understand, debug and interact with multi-robot systems. Towards this goal, we present the…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
We investigate the online exploration problem (aka covering) of a short-sighted mobile robot moving in an unknown cellular environment with hexagons and triangles as types of cells. To explore a cell, the robot must enter it. Once inside,…