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Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
Let $G$ be a graph. Assume that to each vertex of a set of vertices $S\subseteq V(G)$ a robot is assigned. At each stage one robot can move to a neighbouring vertex. Then $S$ is a mobile general position set of $G$ if there exists a…
In the dispersion problem, a set of $k$ co-located mobile robots must relocate themselves in distinct nodes of an unknown network. The network is modeled as an anonymous graph $G=(V,E)$, where the nodes of the graph are not labeled. The…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a target position. However, recent work on high-capacity models…
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…
Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…
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…
The well-studied DISPERSION problem is a fundamental coordination problem in distributed robotics, where a set of mobile robots must relocate so that each occupies a distinct node of a network. DISPERSION assumes that a robot can settle at…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
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…
Given a set R of robots, each one located at different vertices of an infinite regular tessellation graph, we aim to explore the Arbitrary Pattern Formation (APF) problem. Given a multiset F of grid vertices such that |R|=|F|, APF asks for…
In the existing literature of the Mutual Visibility problem for autonomous robot swarms, the adopted visibility models have some idealistic assumptions that are not consistent with practical sensing device implementations. This paper…
An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
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…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…