Related papers: Failure-Tolerant Connectivity Maintenance for Robo…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
As the potential for neural networks to augment our daily lives grows, ensuring their quality through effective testing, debugging, and maintenance is essential. This is especially the case as we acknowledge the prospects of negative…
We formulate the problem of robots ferrying messages between statically-placed source and sink pairs that they can communicate with wirelessly. We first analyze the capacity region for this problem under both ideal (arbitrarily high…
The complete collection of sparse resources in large, unknown environments remains a challenging problem for autonomous robot swarms. Previous studies have shown that a substantial portion of total mission time is consumed during the final…
In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…
This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning. Local and global tracking control algorithms are…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
Industrial robots play an increasingly important role in a growing number of fields. For example, robotics is used to increase productivity while reducing costs in various aspects of manufacturing. Since robots are often set up in…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…
In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via robot swarms holds transformative potential for logistics and…
We consider the task of minimizing the sum of convex functions stored in a decentralized manner across the nodes of a communication network. This problem is relatively well-studied in the scenario when the objective functions are smooth, or…
Gathering is a fundamental coordination problem in cooperative mobile robotics. In short, given a set of robots with arbitrary initial locations and no initial agreement on a global coordinate system, gathering requires that all robots,…
In some situations the communications of a place can be affected, totally lost, or not even exist. In these cases, the MANETs play an important role, allowing to establish a communications point using the different nodes of the network to…
Federated robotic task execution systems require bridging natural language instructions to distributed robot control while efficiently managing computational resources across heterogeneous edge devices without centralized coordination.…
Swarm robotics is a study of simple robots that exhibit complex behaviour only by interacting locally with other robots and their environment. The control in swarm robotics is mainly distributed whereas centralised control is widely used in…
In this paper we consider a stochastic deployment problem, where a robotic swarm is tasked with the objective of positioning at least one robot at each of a set of pre-assigned targets while meeting a temporal deadline. Travel times and…
Federated learning (FL) has received a surge of interest in recent years thanks to its benefits in data privacy protection, efficient communication, and parallel data processing. Also, with appropriate algorithmic designs, one could achieve…