Related papers: Optimal Distributed Searching in the Plane with an…
Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in such applications, promising to cover large areas at high…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
In multi-agent search planning for a randomly moving and camouflaging target, we examine heterogeneous searchers that differ in terms of their endurance level, travel speed, and detection ability. This leads to a convex mixed-integer…
Some human-machine systems are designed so that machines (robots) gather and deliver data to remotely located operators (humans) through an interface in order to aid them in classification. The performance of a human as a (binary)…
This paper proposes an algorithm for motion planning among dynamic agents using adaptive conformal prediction. We consider a deterministic control system and use trajectory predictors to predict the dynamic agents' future motion, which is…
We study dynamic multi-robot task allocation under uncertain task completion, time-window constraints, and incomplete information. Tasks arrive online over a finite horizon and must be completed within specified deadlines, while agents…
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several applications including search-and-rescue and precision agriculture.…
Dispersion by mobile agents is a well studied problem in the literature on computing by mobile robots. In this problem, $l$ robots placed arbitrarily on nodes of a network having $n$ nodes are asked to relocate themselves autonomously so…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Aim of this paper is to provide a review of the state of the art in Search and Rescue (SAR) robotics. Suitable robotic applications in the SAR domain are described, and SAR-specific demands and requirements on the various components of a…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
We study the resource sharing problem in a drone-based wireless network. We consider a distributed control setting under uncertainty (i.e. unavailability of full information). In particular, the drones cooperate in serving the users while…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
We introduce and study the general setting of weighted search in which a number of targets, each with a certain weight, are hidden in a star-like environment that consists of $m$ infinite, concurrent rays, with a common origin. A mobile…
Unmanned Aerial Vehicles (UAVs) have attracted great interest in the last few years owing to their ability to cover large areas and access difficult and hazardous target zones, which is not the case of traditional systems relying on direct…
We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…
Traditional search and rescue methods in wilderness areas can be time-consuming and have limited coverage. Drones offer a faster and more flexible solution, but optimizing their search paths is crucial. This paper explores the use of deep…