Related papers: Reachability and Coverage Planning for Connected A…

We consider the following problem - a group of mobile agents perform some task on a terrain modeled as a graph. In a given moment of time an adversary gets an access to the graph and positions of the agents. Shortly before adversary's…

A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…

This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…

In the graph exploration problem, a team of mobile computational entities, called agents, arbitrarily positioned at some nodes of a graph, must cooperate so that each node is eventually visited by at least one agent. In the literature, the…

We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move.…

Interactions with articulated objects are a challenging but important task for mobile robots. To tackle this challenge, we propose a novel closed-loop control pipeline, which integrates manipulation priors from affordance estimation with…

Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…

This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…

This study deals with the problem of task and motion planning of autonomous systems within the context of high-level tasks. Specifically, a task comprises logical requirements (conjunctions, disjunctions, and negations) on the trajectories…

While a natural fit for modeling and understanding mobile networks, time-varying graphs remain poorly understood. Indeed, many of the usual concepts of static graphs have no obvious counterpart in time-varying ones. In this paper, we…

This paper considers the problem of efficient exploration of unseen environments, a key challenge in AI. We propose a `learning to explore' framework where we learn a policy from a distribution of environments. At test time, presented with…

The Collaborative Task Sequencing and Multi-Agent Path Finding (CTS-MAPF) problem requires agents to accomplish sequences of tasks while avoiding collisions, posing significant challenges due to its combinatorial complexity. This work…

In this paper, we consider a leader-following consensus problem of a group of autonomous agents with time-varying coupling delays. Two different cases of coupling topologies are investigated. At first, a necessary and sufficient condition…

In this empirical paper, we investigate how learning agents can be arranged in more efficient communication topologies for improved learning. This is an important problem because a common technique to improve speed and robustness of…

We currently witness the emergence of interesting new network topologies optimized towards the traffic matrices they serve, such as demand-aware datacenter interconnects (e.g., ProjecToR) and demand-aware overlay networks (e.g., SplayNets).…

This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…

We study a variant of the multi-agent path finding problem (MAPF) in which agents are required to remain connected to each other and to a designated base. This problem has applications in search and rescue missions where the entire…

Coverage path planning is a well-studied problem in robotics in which a robot must plan a path that passes through every point in a given area repeatedly, usually with a uniform frequency. To address the scenario in which some points need…

This paper proposes an online path planning and motion generation algorithm for heterogeneous robot teams performing target search in a real-world environment. Path selection for each robot is optimized using an information-theoretic…

Authors compare different ways of selecting change agents within network analysis paradigm and propose a new algorithm of doing so. All methods are evaluated against network coverage measure that calculates how many network members can be…