Related papers: 3D Multi-Robot Patrolling with a Two-Level Coordin…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
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…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
We present and analyze methods for patrolling an environment with a distributed swarm of robots. Our approach uses a physical data structure - a distributed triangulation of the workspace. A large number of stationary "mapping" robots cover…
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…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
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 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…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
This survey comprehensively reviews the evolving field of multi-robot collaborative Simultaneous Localization and Mapping (SLAM) using 3D Gaussian Splatting (3DGS). As an explicit scene representation, 3DGS has enabled unprecedented…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
This paper tackles the distributed leader-follower (L-F) control problem for heterogeneous mobile robots in unknown environments requiring obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To prevent an…