Related papers: Resilience by Reconfiguration: Exploiting Heteroge…

Intermittent faults are transient errors that sporadically appear and disappear. Although intermittent faults pose substantial challenges to reliability and coordination, existing studies of fault tolerance in robot swarms focus instead on…

The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…

This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…

Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…

This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based feedback design formulations, where the nominal cost function…

This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…

Originated from distributed learning, federated learning enables privacy-preserved collaboration on a new abstracted level by sharing the model parameters only. While the current research mainly focuses on optimizing learning algorithms and…

This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…

This paper aims at designing of adaptive framework for supporting collaborative work of different actors in public safety and disaster recovery missions. In such scenarios, firemen and robots interact to each other to reach a common goal;…

We present a framework for Multi-Robot Task Allocation (MRTA) in heterogeneous teams performing long-endurance missions in dynamic scenarios. Given the limited battery of robots, especially for aerial vehicles, we allow for robot recharges…

The exchange of information is key in applications that involve multiple agents, such as search and rescue, military operations, and disaster response. In this work, we propose a simple and effective trajectory planning framework that…

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…

We provide a framework for the assignment of multiple robots to goal locations, when robot travel times are uncertain. Our premise is that time is the most valuable asset in the system. Hence, we make use of redundant robots to counter the…

The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…

We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…

In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built…

Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…

Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…

Optimal allocation of shared resources is key to deliver the promise of jointly operating radar and communications systems. In this paper, unlike prior works which examine synergistic access to resources in colocated joint…

This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…