Related papers: Voronoi-Based Coverage Control of Heterogeneous Di…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
This paper discusses a cooperative strategy for capturing a target using multiple pursuers in a planar scenario. Given an initial position distribution of pursuers, the Voronoi Diagram is employed to characterize the target's proximity…
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…
Good pre-trained visual representations could enable robots to learn visuomotor policy efficiently. Still, existing representations take a one-size-fits-all-tasks approach that comes with two important drawbacks: (1) Being completely…
Many methods for modelling spatial processes assume global smoothness properties; such assumptions are often violated in practice. We introduce a method for modelling spatial processes that display heterogeneity or contain discontinuities.…
Irregular arrangements of vesicles filled with excitable and precipitating chemical systems are imitated by Voronoi automata --- finite-state machines defined on a planar Voronoi diagram. Every Voronoi cell takes four states: resting,…
We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills…
In cellular networks, users are grouped into different cells and served by different access points (base stations) that provide wireless access to services and applications. In general, the service demand is very heterogeneous,…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
Hierarchical multi-robot exploration commonly decouples frontier allocation from local navigation, which can make the system brittle in dense and dynamic environments. Because the allocator lacks direct awareness of execution difficulty,…
The Voronoi diagram is a certain geometric data structure which has numerous applications in various scientific and technological fields. The theory of algorithms for computing 2D Euclidean Voronoi diagrams of point sites is rich and…
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…
We study a heterogeneous two-tier wireless sensor network in which N heterogeneous access points (APs) collect sensing data from densely distributed sensors and then forward the data to M heterogeneous fusion centers (FCs). This…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…
The multi-robot coverage problem is an essential building block for systems that perform tasks like inspection or search and rescue. We discretize the coverage problem to induce a spatial graph of locations and represent robots as nodes in…
Recently, simple conditions for well-behaved-ness of anisotropic Voronoi diagrams have been proposed. While these conditions ensure well-behaved-ness of two types of practical anisotropic Voronoi diagrams, as well as the geodesic-distance…
The crucial problem in vehicle re-identification is to find the same vehicle identity when reviewing this object from cross-view cameras, which sets a higher demand for learning viewpoint-invariant representations. In this paper, we propose…
This paper addresses the fundamental problem of non-uniform area coverage in multi-agent systems, where different regions require varying levels of attention due to mission-dependent priorities. Existing uniform coverage strategies are…
The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces significant challenges when some robots are lost or deviate from…