Related papers: Potential Game-Based Non-Myopic Sensor Network Pla…
This paper presents a potential game approach for distributed cooperative selection of informative sensors, when the goal is to maximize the mutual information between the measurement variables and the quantities of interest. It is proved…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
In target tracking with mobile multi-sensor systems, sensor deployment impacts the observation capabilities and the resulting state estimation quality. Based on a partially observable Markov decision process (POMDP) formulation comprised of…
This work investigates the problem of multi-agents trajectory prediction. Prior approaches lack of capability of capturing fine-grained dependencies among coordinated agents. In this paper, we propose a spatial-temporal trajectory…
In this paper we describe a framework towards computing well-localized, robust motion plans through the perception-aware motion planning problem, whereby we seek a low-cost motion plan subject to a separate constraint on perception…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
We present a nonlinear model predictive control (MPC) scheme for tracking of dynamic target signals. The scheme combines stabilization and dynamic trajectory planning in one layer, thus ensuring constraint satisfaction irrespective of…
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…
The interactive decision-making in multi-agent autonomous racing offers insights valuable beyond the domain of self-driving cars. Mapless online path planning is particularly of practical appeal but poses a challenge for safely overtaking…
This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…
We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion…
Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to…
This paper proposes a new perspective on the conventional planar target tracking problem. One evader and one pursuer are considered in the dynamics. In the planar tracking, pursuer has the ability to measure the position and the velocity…
The energy-efficient trip allocation of mobile robots employing differential drives for data retrieval from stationary sensor locations is the scope of this article. Given a team of robots and a set of targets (wireless sensor nodes), the…
We consider multitarget detection and tracking problem for a class of multipath detection system where one target may generate multiple measurements via multiple propagation paths, and the association relationship among targets,…
Robot control policies for temporally extended and sequenced tasks are often characterized by discontinuous switches between different local dynamics. These change-points are often exploited in hierarchical motion planning to build…