Related papers: Failure-Tolerant Connectivity Maintenance for Robo…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This paper studies the robustness of a dynamic average consensus algorithm to communication delay over strongly connected and weight-balanced (SCWB) digraphs. Under delay-free communication, the algorithm of interest achieves a practical…
We propose a framework for resilience in a networked heterogeneous multi-robot team subject to resource failures. Each robot in the team is equipped with resources that it shares with its neighbors. Additionally, each robot in the team…
Failures in optical network backbone can lead to major disruption of internet data traffic. Hence, minimizing such failures is of paramount importance for the network operators. Even better, if the network failures can be predicted and…
Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most…
In this paper we propose a control framework that enables robots to execute tasks persistently, i.e., over time horizons much longer than robots' battery life. This is achieved by ensuring that the energy stored in the batteries of the…
We address the problem of maintaining resource availability in a networked multi-robot team performing distributed tracking of unknown number of targets in an environment of interest. Based on our model, robots are equipped with sensing and…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…
In condition-based maintenance, real-time observations are crucial for on-line health assessment. When the monitoring system is a wireless sensor network, data loss becomes highly probable and this affects the quality of the remaining…
In this paper, we present algorithms for designing networks that are robust to node failures with minimal or limited number of links. We present algorithms for both the static network setting and the dynamic network setting; setting where…
The problem of maintaining a wireless communication link between a fixed base station and an autonomous agent by means of a team of mobile robots is addressed in this work. Such problem can be of interest for search and rescue missions in…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
Efficient traffic monitoring is crucial for managing urban transportation networks, especially under congested and dynamically changing traffic conditions. Drones offer a scalable and cost-effective alternative to fixed sensor networks.…
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…
We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
Most modern communication networks include fast rerouting mechanisms, implemented entirely in the data plane, to quickly recover connectivity after link failures. By relying on local failure information only, these data plane mechanisms…
Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…
This paper analyzes consensus in multi-agent systems under uniform and nonuniform communication delays, a key challenge in distributed coordination with applications to robotic swarms. It investigates the convergence of a consensus…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…