Related papers: Loosely Coupled Payload Transport System with Robo…

Multi-robot collaborative transportation is a critical capability that has attracted significant attention over recent years. To reliably transport a kinematically constrained payload, a team of robots must closely collaborate and…

We propose a novel, heterogeneous multi-agent architecture that miniaturizes rovers by outsourcing power generation to a central hub. By delegating power generation and distribution functions to this hub, the size, weight, power, and cost…

Lattice-based modular robot systems are envisioned for large-scale construction in extreme environments, such as space. Coupling mechanisms for heterogeneous structural modules should meet all of the following requirements: single-sided…

In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…

For high-performance autonomous manipulation of a payload by a mobile manipulator team, or for collaborative manipulation with the human, robots should be able to discover where other robots are attached to the payload, as well as the…

This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…

Benefiting from the fusion of communication and intelligent technologies, network-enabled robots have become important to support future machine-assisted and unmanned applications. To provide high-quality services for robots in wide areas,…

One aspect of the ever-growing need for long term autonomy of multi-robot systems, is ensuring energy sufficiency. In particular, in scenarios where charging facilities are limited, battery-powered robots need to coordinate to share access.…

Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. Yet controllers trained in simulation often fail to transfer reliably, and most existing approaches neglect…

The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…

Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…

We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…

In the era of digital commerce, the surge in online shopping and the expectation for rapid delivery have placed unprecedented demands on warehouse operations. The traditional method of order fulfilment, where human order pickers traverse…

Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…

This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…

Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…

Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…

Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…

We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject to friction but are instead free floating. This property is…

Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…