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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…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
Robust topology optimization (RTO), as a class of topology optimization problems, identifies a design with the best average performance while reducing the response sensitivity to input uncertainties, e.g. load uncertainty. Solving RTO is…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
In traditional topology optimization, the computing time required to iteratively update the material distribution within a design domain strongly depends on the complexity or size of the problem, limiting its application in real engineering…
Mobile multi-robot teams deployed for monitoring or search-and-rescue missions in urban disaster areas can greatly improve the quality of vital data collected on-site. Analysis of such data can identify hazards and save lives.…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the…
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…
Natural, social, and artificial multi-agent systems usually operate in dynamic environments, where the ability to respond to changing circumstances is a crucial feature. An effective collective response requires suitable information…
Purpose of review: This paper reviews opportunities and challenges for decentralised control, change-detection, and learning in the context of resilient robot teams. Recent findings: Exogenous fault detection methods can provide a generic…
Connectivity maintenance plays a key role in achieving a desired global behavior among a swarm of robots. However, connectivity maintenance in realistic environments is hampered by lack of computation resources, low communication bandwidth,…
Modern networked systems are increasingly reconfigurable, enabling demand-aware infrastructures whose resources can be adjusted according to the workload they currently serve. Such dynamic adjustments can be exploited to improve network…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…
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…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
This paper develops a novel COllaborative-Online-Learning (COOL)-enabled motion control framework for multi-robot systems to avoid collision amid randomly moving obstacles whose motion distributions are partially observable through…
Reconfigurable optical topologies are a promising new technology to improve datacenter network performance and cope with the explosive growth of traffic. In particular, these networks allow to directly and adaptively connect racks between…