Related papers: A Coordinated Search Strategy for Multiple Solitar…
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Since the end of the 1980's, the development of self-driven autonomous vehicles is an intensive research area in most major industrial countries. Positive socio-economic potential impacts include a decrease of crashes, a reduction of travel…
We study a recently introduced \textit{unconscious} mobile robot model, where each robot is associated with a \textit{color}, which is visible to other robots but not to itself. The robots are autonomous, anonymous, oblivious and silent,…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…
One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations, such as movement congestion and communication conflicts,…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
Most studies in swarm robotics treat the swarm as an isolated system of interest. We argue that the prevailing view of swarms as self-sufficient, independent systems limits the scope of potential applications for swarm robotics. A robot…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling…
Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…
Human-guided robotic exploration is a useful approach to gathering information at remote locations, especially those that might be too risky, inhospitable, or inaccessible for humans. Maintaining common ground between the remotely-located…
This paper considers the problem of autonomous multi-agent cooperative target search in an unknown environment using a decentralized framework under a no-communication scenario. The targets are considered as static targets and the agents…