Related papers: Resilient Active Target Tracking with Multiple Rob…

In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…

Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…

For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a specified objective and satisfy whatever constraints exist in…

We study the multi-task learning problem that aims to simultaneously analyze multiple datasets collected from different sources and learn one model for each of them. We propose a family of adaptive methods that automatically utilize…

The process of association and tracking of sensor detections is a key element in providing situational awareness. When the targets in the scenario are dense and exhibit high maneuverability, Multi-Target Tracking (MTT) becomes a challenging…

The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…

It is of great challenge, though promising, to coordinate collective robots for hunting an evader in a decentralized manner purely in light of local observations. In this paper, this challenge is addressed by a novel hybrid cooperative…

The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces significant challenges when some robots are lost or deviate from…

Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…

Route planning also known as pathfinding is one of the key elements in logistics, mobile robotics and other applications, where engineers face many conflicting objectives. However, most of the current route planning algorithms consider only…

In multi-target tracking, sensor control involves dynamically configuring sensors to achieve improved tracking performance. Many of these techniques focus on sensors with memoryless states (e.g., waveform adaptation, beam scheduling, and…

Reinforcement Learning (RL) algorithms show amazing performance in recent years, but placing RL in real-world applications such as self-driven vehicles may suffer safety problems. A self-driven vehicle moving to a target position following…

This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…

We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…

In this paper we present a robust tracker to solve the multiple object tracking (MOT) problem, under the framework of tracking-by-detection. As the first contribution, we innovatively combine single object tracking (SOT) algorithms with…

We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…

This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation…

Identity Switching remains one of the main difficulties Multiple Object Tracking (MOT) algorithms have to deal with. Many state-of-the-art approaches now use sequence models to solve this problem but their training can be affected by biases…