Related papers: Aerial Drop of Robots and Sensors for Optimal Area…
We consider the problem of routing a team of energy-constrained Unmanned Aerial Vehicles (UAVs) to drop unmovable sensors for monitoring a task area in the presence of stochastic wind disturbances. In prior work on mobile sensor routing…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
This technical report addresses the problem of optimal surveillance of the route followed by a dynamic parade using a team of aerial robots. The dynamic parade is considered to take place within an urban environment, it is discretized and…
A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…
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…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
Localization is a critical capability for robots, drones and autonomous vehicles operating in a wide range of environments. One of the critical considerations for designing, training or calibrating visual localization systems is the…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
This report overviews a set of recent contributions in the field of path planning that were developed to enable the realization of the autonomous aerial robotic worker for inspection operations. The specific algorithmic contributions…
Interest in designing, manufacturing, and using autonomous robots has been rapidly growing during the most recent decade. The main motivation for this interest is the wide range of potential applications these autonomous systems can serve…
Planning a time-optimal trajectory for aerial robots is critical in many drone applications, such as rescue missions and package delivery, which have been widely researched in recent years. However, it still involves several challenges,…
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
We consider the problem of multi-robot sensor coverage, which deals with deploying a multi-robot team in an environment and optimizing the sensing quality of the overall environment. As real-world environments involve a variety of sensory…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…