Related papers: Decentralized Simultaneous Multi-target Exploratio…
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.…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
Collaborative heterogeneous robot systems can greatly improve the efficiency of target search and navigation tasks. In this paper, we design a heterogeneous robot system consisting of a UAV and a UGV for search and rescue missions in…
In the tasks of multi-robot collaborative area search, we propose the unified approach for simultaneous mapping for sensing more targets (exploration) while searching and locating the targets (coverage). Specifically, we implement a…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persistent coverage is a variant of traditional coverage where…
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is…
In this paper, we present a consensus-based decentralized multi-robot approach to reconstruct a discrete distribution of features, modeled as an occupancy grid map, that represent information contained in a bounded planar 2D environment,…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a…
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…
Multi-robot systems can be extremely efficient for accomplishing team-wise tasks by acting concurrently and collaboratively. However, most existing methods either assume static task features or simply replan when environmental changes…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…
We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies. Specifically, we consider the global task as a conjunction of…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
We consider the decentralized exploration problem: a set of players collaborate to identify the best arm by asynchronously interacting with the same stochastic environment. The objective is to insure privacy in the best arm identification…