Related papers: A Coalition Formation Algorithm for Multi-Robot Ta…

To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…

Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…

In this letter, we consider a distributed submodular maximization problem for multi-robot systems when attacked by adversaries. One of the major challenges for multi-robot systems is to increase resilience against failures or attacks. This…

Particle swarm optimisation is a metaheuristic algorithm which finds reasonable solutions in a wide range of applied problems if suitable parameters are used. We study the properties of the algorithm in the framework of random dynamical…

Spatial search problems abound in the real world, from locating hidden nuclear or chemical sources to finding skiers after an avalanche. We exemplify the formalism and solution for spatial searches involving two agents that may or may not…

We consider the trajectory replanning problem for a large-scale swarm in a cluttered environment. Our path planner replans for robots by utilizing a hierarchical approach, dividing the workspace, and computing collision-free paths for…

This paper tackles the multi-vehicle Coverage Path Planning (CPP) problem, crucial for applications like search and rescue or environmental monitoring. Due to its NP-hard nature, finding optimal solutions becomes infeasible with larger…

This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…

Research on human-robot collaboration or human-robot teaming, has focused predominantly on understanding and enabling collaboration between a single robot and a single human. Extending human-robot collaboration research beyond the dyad,…

Particle Swarm Optimization (PSO) is a metaheuristic global optimization paradigm that has gained prominence in the last two decades due to its ease of application in unsupervised, complex multidimensional problems which cannot be solved…

In Social Robot Navigation, autonomous agents need to resolve many sequential interactions with other agents. State-of-the art planners can efficiently resolve the next, imminent interaction cooperatively and do not focus on longer planning…

Individual robots are not effective at exploring large unmapped areas. An alternate approach is to use a swarm of simple robots that work together, rather than a single highly capable robot. The central-place foraging algorithm (CPFA) is…

We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…

Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…

This paper presents a consensus-based payload algorithm (CBPA) to deal with the condition of robots' capability decrease for multi-robot task allocation. During the execution of complex tasks, robots' capabilities could decrease with the…

This paper addresses task planning problems for language-instructed robot teams. Tasks are expressed in natural language (NL), requiring the robots to apply their capabilities at various locations and semantic objects. Several recent works…

Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…

This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…

In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…

Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and…