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The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
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…
Cloud Robotics is helping to create a new generation of robots that leverage the nearly unlimited resources of large data centers (i.e., the cloud), overcoming the limitations imposed by on-board resources. Different processing power,…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
We introduce fast algorithms for correlation clustering with respect to the Min Max objective that provide constant factor approximations on complete graphs. Our algorithms are the first purely combinatorial approximation algorithms for…
Global mobile robot localization is the problem of determining a robot's pose in an environment, using sensor data, when the starting position is unknown. A family of probabilistic algorithms known as Monte Carlo Localization (MCL) is…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…
Humans have an impressive ability to solve complex coordination problems in a fully distributed manner. This ability, if learned as a set of distributed multirobot coordination strategies, can enable programming large groups of robots to…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…
Two fundamental algorithm-design paradigms are Tree Search and Dynamic Programming. The techniques used therein have been shown to complement one another when solving the complete set partitioning problem, also known as the coalition…
In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a…
Motivated by modern parallel computing applications, we consider the problem of scheduling parallel-task jobs with heterogeneous resource requirements in a cluster of machines. Each job consists of a set of tasks that can be processed in…
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…