Related papers: Multi-Robot Data Gathering Under Buffer Constraint…
Multi-robot systems (MRS) rely on exchanging raw sensory data to cooperate in complex three-dimensional (3D) environments. However, this strategy often leads to severe communication congestion and high transmission latency, significantly…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
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…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
Consider a set of $n$ mobile entities, called robots, located and operating on a continuous circle, i.e., all robots are initially in distinct locations on a circle. The \textit{gathering} problem asks to design a distributed algorithm that…
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconnection topologies in multi-robot systems. In scenarios in…
We introduce a new problem in the domain of mobile robots, which we term dispersion. In this problem, $n$ robots are placed in an $n$ node graph arbitrarily and must coordinate with each other to reach a final configuration such that…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
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…
Many algorithms for control of multi-robot teams operate under the assumption that low-latency, global state information necessary to coordinate agent actions can readily be disseminated among the team. However, in harsh environments with…
Compared with the widely investigated homogeneous multi-robot collaboration, heterogeneous robots with different capabilities can provide a more efficient and flexible collaboration for more complex tasks. In this paper, we consider a more…
Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly…
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…