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In this paper, we solve a multi-robot informative path planning (MIPP) task under the influence of uncertain communication and adversarial attackers. The goal is to create a multi-robot system that can learn and unify its knowledge of an…
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits to a remote station, while navigating to a prespecified…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
In this paper we study multi-robot path planning for persistent monitoring tasks. We consider the case where robots have a limited battery capacity with a discharge time $D$. We represent the areas to be monitored as the vertices of a…
In this paper, we study the Online Network Formation Problem (ONFP) for a mobile multi-robot system. Consider a group of robots with a bounded communication range operating in a large open area. One of the robots has a piece of information…
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…
One simplifying assumption made in distributed robot systems is that the robots are single-tasking: each robot operates on a single task at any time. While such a sanguine assumption is innocent to make in situations with sufficient…
Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move.…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
In this paper we propose and prove correct a new self-stabilizing velocity agreement (flocking) algorithm for oblivious and asynchronous robot networks. Our algorithm allows a flock of uniform robots to follow a flock head emergent during…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…