Related papers: Reachability and Coverage Planning for Connected A…
We formalise and study multi-agent timed models MAPTs (Multi-Agent with timed Periodic Tasks), where each agent is associated to a regular timed schema upon which all possibles actions of the agent rely. MAPTs allow for an accelerated…
Ad hoc teamwork is the challenging problem of designing an autonomous agent which can adapt quickly to collaborate with teammates without prior coordination mechanisms, including joint training. Prior work in this area has focused on closed…
The gathering problem requires a set of mobile agents, arbitrarily positioned at different nodes of a network to group within finite time at the same location, not fixed in advanced. The extensive existing literature on this problem shares…
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…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
Coverage path planning in a generic known environment is shown to be NP-hard. When the environment is unknown, it becomes more challenging as the robot is required to rely on its online map information built during coverage for planning its…
We study the problem of multi-agent online graph exploration, in which a team of k agents has to explore a given graph, starting and ending on the same node. The graph is initially unknown. Whenever a node is visited by an agent, its…
This paper focuses on the multi-agent synchronization problem with an open-loop unstable leader and followers under the switching topologies. For this issue, the typical approach is intermittent communication (including a spanning tree…
This paper studies the evaluation of routing algorithms from the perspective of reachability routing, where the goal is to determine all paths between a sender and a receiver. Reachability routing is becoming relevant with the changing…
Modular vehicles present a novel area of academic and industrial interest in the field of multi-agent systems. Modularity allows vehicles to connect and disconnect with each other mid-transit which provides a balance between efficiency and…
In numerous artificial intelligence applications, the collaborative efforts of multiple intelligent agents are imperative for the successful attainment of target objectives. To enhance coordination among these agents, a distributed…
Many robotic applications, such as sanding, polishing, wiping and sensor scanning, require a manipulator to dexterously cover a surface using its end-effector. In this paper, we provide an efficient and effective coverage path planning…
The graph-navigability problem concerns how one can find as short paths as possible between a pair of vertices, given an incomplete picture of a graph. We study the navigability of graphs where the vertices are tagged by a number (between 1…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to goal positions. Coordinating multiple agents in a shared…
For a given collection G of directed graphs we define the join-reachability graph of G, denoted by J(G), as the directed graph that, for any pair of vertices a and b, contains a path from a to b if and only if such a path exists in all…
In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by the so-called topological interaction rule: agents interact with a fixed number of their…
Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…
The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…
Efficient coverage of unknown environments requires robots to adapt their paths in real time based on on-board sensor data. In this paper, we introduce CAP, a connectivity-aware hierarchical coverage path planning algorithm for efficient…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…