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Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…
This paper presents a novel distributed algorithm for tracking a maneuvering target using bearing or direction of arrival measurements collected by a networked sensor array. The proposed approach is built on the dynamic average-consensus…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
The hunter and gatherer approach copes with the problem of dynamic multi-robot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring…
We study the Symmetric Rendezvous Search Problem for a multi-robot system. There are $n>2$ robots arbitrarily located on a line. Their goal is to meet somewhere on the line as quickly as possible. The robots do not know the initial location…
We propose a new globalization strategy that can be used in unconstrained optimization algorithms to support rapid convergence from remote starting points. Our approach is based on using multiple points at each iteration to build a…
The matrix completion problem aims to reconstruct a low-rank matrix based on a revealed set of possibly noisy entries. Prior works consider completing the entire matrix with generalization error guarantees. However, the completion accuracy…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Coverage control is essential for the optimal deployment of agents to monitor or cover areas with sensory demands. While traditional coverage involves single-task robots, increasing autonomy now enables multitask operations. This paper…
Multi-goal reaching is an important problem in reinforcement learning needed to achieve algorithmic generalization. Despite recent advances in this field, current algorithms suffer from three major challenges: high sample complexity,…
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…
We consider a team of mobile autonomous robots with the aim to cover a given set of targets. Each robot aims to select a target to cover and physically reach it by the final time in coordination with other robots given the locations of…
The main result of this paper states that for any group $G$ with an automatic structure $L$ with unique representatives one can construct a uniform partial algorithm which detects $L$-rational subgroups and gives their preimages in $L$.…
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…