Related papers: Enforcing Biconnectivity in Multi-robot Systems
The problem of maintaining a wireless communication link between a fixed base station and an autonomous agent by means of a team of mobile robots is addressed in this work. Such problem can be of interest for search and rescue missions in…
We consider the problem of maximizing the algebraic connectivity of the communication graph in a network of mobile robots by moving them into appropriate positions. We define the Laplacian of the graph as dependent on the pairwise distance…
Purpose of review: Recent advances in sensing, actuation, and computation have opened the door to multi-robot systems consisting of hundreds/thousands of robots, with promising applications to automated manufacturing, disaster relief,…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
Communication is a vital component for all swarm robotics applications, and even simple swarm robotics behaviours often break down when this communication is unreliable. Since wireless communications are inherently subject to interference…
Recent research in the domain of real-time scheduling theory has tackled the problem of scheduling mixed-criticality systems upon uniprocessor or multiprocessor platforms, with the main objective being to respect the timeliness of the most…
An autonomous service robot should be able to interact with its environment safely and robustly without requiring human assistance. Unstructured environments are challenging for robots since the exact prediction of outcomes is not always…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
Most reinforcement learning algorithms are inefficient for learning multiple tasks in complex robotic systems, where different tasks share a set of actions. In such environments a compound policy may be learnt with shared neural network…
We describe a synchronous distributed algorithm which identifies the edge-biconnected components of a connected network. It requires a leader, and uses messages of size O(log |V|). The main idea is to preorder a BFS spanning tree, and then…
The notion of network connectivity is used to characterize the robustness and failure tolerance of networks, with high connectivity being a desirable feature. In this paper, we develop a novel approach to the problem of identifying critical…
Given a set of robots with arbitrary initial location and no agreement on a global coordinate system, convergence requires that all robots asymptotically approach the exact same, but unknown beforehand, location. Robots are oblivious-- they…
Robustness is key to engineering, automation, and science as a whole. However, the property of robustness is often underpinned by costly requirements such as over-provisioning, known uncertainty and predictive models, and known adversaries.…
We present a novel regularization approach to train neural networks that enjoys better generalization and test error than standard stochastic gradient descent. Our approach is based on the principles of cross-validation, where a validation…
In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertainties. The approach relies on the computation of an…
The multiple-biomarker classifier problem and its assessment are reviewed against the background of some fundamental principles from the field of statistical pattern recognition, machine learning, or the recently so-called "data science". A…
Pinning control of a complex network aims at forcing the states of all nodes to track an external signal by controlling a small number of nodes in the network. In this paper, an algebraic graph-theoretic condition is introduced to optimize…
We address the problem of maintaining resource availability in a networked multi-robot system performing distributed target tracking. In our model, robots are equipped with sensing and computational resources enabling them to track a…
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling…