Related papers: Optimal Distributed Searching in the Plane with an…
Several distributed algorithms are presented for the exploration of unknown indoor regions by a swarm of flying, energy constrained agents. The agents, which are identical, autonomous, anonymous and oblivious, uniformly cover the region and…
The problem is area-restricted search for targets using an autonomous mobile sensing platform. Detection is imperfect: the probability of detection depends on the range to the target, while the probability of false detections is non-zero.…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
Using Unmanned Aerial Vehicles (UAVs) in Search and rescue operations (SAR) to navigate challenging terrain while maintaining reliable communication with the cellular network is a promising approach. This paper suggests a novel technique…
Rapid search and rescue is critical to maximizing survival rates following natural disasters. However, these efforts are challenged by the need to search large disaster zones, lack of reliability in the communications infrastructure, and a…
Search and detection of objects on the ocean surface is a challenging task due to the complexity of the drift dynamics and lack of known optimal solutions for the path of the search agents. This challenge was highlighted by the unsuccessful…
Aerial robots hold great potential for aiding Search and Rescue (SAR) efforts over large areas. Traditional approaches typically searches an area exhaustively, thereby ignoring that the density of victims varies based on predictable…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
We study a fundamental cooperative message-delivery problem on the plane. Assume $n$ robots which can move in any direction, are placed arbitrarily on the plane. Robots each have their own maximum speed and can communicate with each other…
We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon the strengths of reinforcement learning and…
Maritime accidents cause thousands of disappearances every year, with migrant crossings being particularly dangerous and under-reported. Current coastal and NGO search and rescue services are unable to provide a timely response, so new…
This research addresses the challenge of performing search missions in dynamic environments, particularly for drifting targets whose movement is dictated by a flow field. This is accomplished through a dynamical system that integrates two…
Goals for planning problems are typically conceived of as subsets of the state space. However, for many practical planning problems in robotics, we expect the robot to predict goals, e.g. from noisy sensors or by generalizing learned models…
The speed of response by search and rescue teams at sea is of vital importance, as survival may depend on it. Recent technological advancements have led to the development of more efficient systems for locating individuals involved in a…
This technical report addresses the problem of optimal surveillance of the route followed by a dynamic parade using a team of aerial robots. The dynamic parade is considered to take place within an urban environment, it is discretized and…
Shared e-mobility services have been widely tested and piloted in cities across the globe, and already woven into the fabric of modern urban planning. This paper studies a practical yet important problem in those systems: how to deploy and…
In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update…