Related papers: Asynchronous and Dynamic Coverage Control Scheme f…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…
In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower…
Future applications in environmental monitoring, delivery of services and transportation of goods motivate the study of deployment and partitioning tasks for groups of autonomous mobile agents. These tasks are achieved by recent coverage…
In this work we propose a coverage planning control approach which allows a mobile agent, equipped with a controllable sensor (i.e., a camera) with limited sensing domain (i.e., finite sensing range and angle of view), to cover the surface…
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…
Multi-agent systems play a central role in area coverage tasks across search-and-rescue, environmental monitoring, and precision agriculture. Achieving non-uniform coverage, where spatial priorities vary across the domain, requires…
We introduce the dynamics mode decomposition for monitoring wide-area power grid networks from sparse measurement data. The mathematical framework fuses data from multiple sensors based on multivariate statistics, providing accurate full…
We propose MADP, a novel diffusion-model-based approach for collaboration in decentralized robot swarms. MADP leverages diffusion models to generate samples from complex and high-dimensional action distributions that capture the…
Fault-tolerant coverage control involves determining a trajectory that enables an autonomous agent to cover specific points of interest, even in the presence of actuation and/or sensing faults. In this work, the agent encounters control…
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…
This paper investigates the performance of multi-user covert communications over a fixed bandwidth in a multi-cell scenario with both eavesdroppers and malicious jammers. We propose an intelligent spectrum control (ISC) scheme that combines…
This work investigates the coverage control problem over a static, compact, and convex workspace and develops a hybrid extension of the continuous-time Lloyd algorithm. Each agent in a multi-agent system (MAS) is equipped with a timer…
This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission.…
Coordination of view coverage via privacy-aware smart cameras is key to a more socially responsible urban intelligence. Rather than maximizing view coverage at any cost or over relying on expensive cryptographic techniques, we address how…
Environmental changes, failures, collisions or even terrorist attacks can cause serious malfunctions of the delivery systems. We have presented a novel approach improving resilience of Autonomous Moving Platforms AMPs. The approach is based…
This article addresses the problem of Cooperative Coverage Path Planning (C-CPP) for the inspection of complex infrastructures (offline 3D reconstruction) by utilizing multiple Unmanned Autonomous Vehicles (UAVs). The proposed scheme, based…
This paper offers an algorithmic approach to plan continuum deformation of a multi-quadcopter system (MQS) in an obstacle-laden environment. We treat the MQS as finite number of particles of a deformable body coordinating under a…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…