Related papers: Simultaneous Deployment and Tracking Multi-Robot S…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
Motion planning is challenging for multiple robots in cluttered environments without communication, especially in view of real-time efficiency, motion safety, distributed computation, and trajectory optimality, etc. In this paper, a…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…
As Urban air mobility scales, commercial drone fleets offer a compelling, yet underexplored opportunity to function as mobile sensor networks for real-time urban traffic monitoring. In this paper, we propose a decentralized framework that…
In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous environments, and environmental monitoring. Coordination, in…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
We address the problem of maintaining resource availability in a networked multi-robot team performing distributed tracking of unknown number of targets in an environment of interest. Based on our model, robots are equipped with sensing and…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
This paper proposes a novel data-driven control strategy for maintaining connectivity in networked multi-robot systems. Existing approaches often rely on a pre-determined communication model specifying whether pairwise robots can…
In this Paper we propose a simple yet effective set of local control rules to make a group of "herder agents" collect and contain in a desired region an ensemble of non-cooperative stochastic "target agents" in the plane. We investigate the…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
Coordination in multi-agent systems is challenging for agile robots such as unmanned aerial vehicles (UAVs), where relative agent positions frequently change due to unconstrained movement. The problem is exacerbated through the individual…
The ability for an autonomous agent or robot to track and identify potentially multiple objects in a dynamic environment is essential for many applications, such as automated surveillance, traffic monitoring, human-robot interaction, etc.…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…