Related papers: Behavior Mixing with Minimum Global and Subgroup C…
This work presents a novel approach for \textit{bearing rigidity} analysis and control in multi-robot networks with sensing constraints and dynamic topology. By decomposing the system's framework into \textit{subframeworks}, we express…
Given a list of behaviors and associated parameterized controllers for solving different individual tasks, we study the problem of selecting an optimal sequence of coordinated behaviors in multi-robot systems for completing a given mission,…
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…
Hidden Markov Models with an underlying Mixture of Gaussian structure have proven effective in learning Human-Robot Interactions from demonstrations for various interactive tasks via Gaussian Mixture Regression. However, a mismatch occurs…
We have previously shown how to socially integrate a fish robot into a group of zebrafish thanks to biomimetic behavioural models. The models have to be calibrated on experimental data to present correct behavioural features. This…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
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…
Algorithms for dynamically maintaining minimum spanning trees (MSTs) have received much attention in both the parallel and sequential settings. While previous work has given optimal algorithms for dense graphs, all existing parallel…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
Fleets of unmanned robots can be beneficial for the long-term monitoring of large areas, e.g., to monitor wild flocks, detect intruders, search and rescue. Monitoring numerous dynamic targets in a collaborative and efficient way is a…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
Collaborating teams of robots show promise due in their ability to complete missions more efficiently and with improved robustness, attributes that are particularly useful for systems operating in marine environments. A key issue is how to…
An important real-world application of multi-robot systems is multi-robot patrolling (MRP), where robots must carry out the activity of going through an area at regular intervals. Motivations for MRP include the detection of anomalies that…
Most of the existing clustering methods are based on a single granularity of information, such as the distance and density of each data. This most fine-grained based approach is usually inefficient and susceptible to noise. Therefore, we…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
Lane changes are common yet challenging driving maneuvers that require continuous decision-making and dynamic interaction with surrounding vehicles. Relying solely on human drivers for lane-changing can lead to traffic disturbances due to…
As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…