Related papers: Coordinated exploration for labyrinthine environme…
With the real need of field exploration in large-scale and extreme outdoor environments, cooperative exploration tasks have garnered increasing attention. This paper presents a comprehensive review of multi-robot cooperative exploration…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation…
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.…
The hunter and gatherer approach copes with the problem of dynamic multi-robot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…
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…