Related papers: Voronoi-Based Coverage Control of Heterogeneous Di…
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…
Modern applications, such as orchestrating the collective behavior of robotic swarms or traffic flows, require the coordination of large groups of agents evolving in unstructured environments, where disturbances and unmodeled dynamics are…
Behavior prediction in dynamic, multi-agent systems is an important problem in the context of self-driving cars, due to the complex representations and interactions of road components, including moving agents (e.g. pedestrians and vehicles)…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
This paper works through the optimization of a real world planning problem, with a combination of a generative planning tool and an influence diagram solver. The problem is taken from an existing application in the domain of oil spill…
We revisit the static coverage control problem for placement of vehicles with simple motion on the real line, under the assumption that the cost is a polynomial function of the locations of the vehicles. The main contribution of this paper…
In this paper, we propose a coverage control system for a multi-robot team with heterogeneous capabilities to patrol or monitor a bounded environment. The capability could be defined as any criterion of robots like remaining power or mobile…
An urban traffic system is a heterogeneous system, which consists of different types of intersections and dynamics. In this paper, we focus on one type of heterogeneous traffic network, which consists of signalized junctions and…
Vehicular Ad-hoc Networks (VANETs) serve as a critical enabler for intelligent transportation systems. However, their practical deployment faces a core governance dilemma: the network topology requires a dynamic trade-off between robustness…
A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
It is always a challenging task for multi-agent systems to achieve efficient and robust coverage in uncertain environments. The absence of global positioning information on the uncertain environment introduces significant complexity to the…
In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynamics and contacts. A factor graph representation of…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of…
Given a set of sites in a simple polygon, a geodesic Voronoi diagram of the sites partitions the polygon into regions based on distances to sites under the geodesic metric. We present algorithms for computing the geodesic nearest-point,…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Although advanced traffic management systems can deal with the heterogeneous traffic flows approaching of intersections, their performances are compromised, when the traffic volume is not distributed uniformly. To evenly distribute the…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…