Related papers: Coverage Control for Wire-Traversing Robots
In this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range…
With the increasing focus on flexible automation, which emphasizes systems capable of adapting to varied tasks and conditions, exploring future deployments of cloud and edge-based network infrastructures in robotic systems becomes crucial.…
We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synchronous, and on-demand. The recently proposed horizon-based…
Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
This paper deals with the design of time-invariant memoryless control policies for robots that move in a finite two- dimensional lattice and are tasked with persistent surveillance of an area in which there are forbidden regions. We model…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
To address the challenge of efficient coverage by multi-robot systems in non-convex regions with multiple obstacles, this paper proposes a coverage control method based on the Generalized Voronoi Graph (GVG), which has two phases:…
A wire-driven parallel robot is a type of robotic system where multiple wires are used to control the movement of a end-effector. The wires are attached to the end-effector and anchored to fixed points on external structures. This…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…
An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…
Optical Wireless Communication (OWC) is regarded as an auspicious communication approach that can outperform the existing wireless technology. It utilizes LED lights, whose subtle variation in radiant intensity generate a binary data…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
In this paper, we introduce a multi robot payload transport system to carry payloads through an environment of unknown and uneven inclinations while maintaining the desired orientation of the payload. For this task, we used custom built…
Micro- and nanorobots are often controlled by global input signals, such as an electromagnetic or gravitational field. These fields move each robot maximally until it hits a stationary obstacle or another stationary robot. This paper…
This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world,…
Optimization problems with drones are widely studied in a variety of civilian tasks, mainly due to their ability to traverse rough terrains and to carry cameras and other sensors for surveillance tasks. The limited battery life of these…