Related papers: Resilient Active Information Gathering with Mobile…

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…

Robots operating in changing environments either predict obstacle changes and/or plan quickly enough to react to them. Predictive approaches require a strong prior about the position and motion of obstacles. Reactive approaches require no…

As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…

The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…

This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…

Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…

Robotics has dramatically increased our ability to gather data about our environments, creating an opportunity for the robotics and algorithms communities to collaborate on novel solutions to environmental monitoring problems. To understand…

In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…

We consider a swarm of mobile robots evolving in a bidimensional Euclidean space. We study a variant of the crash-tolerant gathering problem: if no robot crashes, robots have to meet at the same arbitrary location, not known beforehand, in…

The vehicle routing problem has great importance and application in transportation and supply chain management. In this case, there are several supply requests in a transportation network. The main goal is to allocate customers to available…

Autonomous robots operating in dynamic environments should identify and report anomalies. Embodying proactive mitigation improves safety and operational continuity. This paper presents a multimodal anomaly detection and mitigation system…

In this paper, we propose a novel architecture and a self-supervised policy gradient algorithm, which employs unsupervised auxiliary tasks to enable a mobile robot to learn how to navigate to a given goal. The dependency on the global…

We consider cooperation among insects, modeled as cooperation between mobile robots on a graph. Within this setting, we consider the problem of mobile robot dispersion on graphs. The study of mobile robots on a graph is an interesting…

This paper addresses the problem of the communication of optimally compressed information for mobile robot path-planning. In this context, mobile robots compress their current local maps to assist another robot in reaching a target in an…

We investigate the minimal number of failures that can partition a system where processes communicate both through shared memory and by message passing. We prove that this number precisely captures the resilience that can be achieved by…

In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…

Coalition is an important mean of multi-robot systems to collaborate on common tasks. An adaptive coalition strategy is essential for the online performance in dynamic and unknown environments. In this work, the problem of territory defense…

We study an extensive class of movement minimization problems which arise from many practical scenarios but so far have little theoretical study. In general, these problems involve planning the coordinated motion of a collection of agents…

Two cooperating, autonomous mobile robots with arbitrary nonzero max speeds are placed at arbitrary initial positions in the plane. A remotely detonated bomb is discovered at some source location and must be moved to a safe distance away…

We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate models and hard-to-predict environment dynamics. We quantify the importance of…