Related papers: Intermittent Connectivity for Exploration in Commu…
This paper proposes a novel planning framework to handle a multi-agent pathfinding problem under team-connected communication constraint, where all agents must have a connected communication channel to the rest of the team during their…
Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…
This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…
In this work we study a multi-agent coordination problem in which agents are only able to communicate with each other intermittently through a cloud server. To reduce the amount of required communication, we develop a self-triggered…
Information sharing is critical in time-sensitive and realistic multi-robot exploration, especially for smaller robotic teams in large-scale environments where connectivity may be sparse and intermittent. Existing methods often overlook…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…
Multi-agent systems outperform single agent in complex collaborative tasks. However, in large-scale scenarios, ensuring timely information exchange during decentralized task execution remains a challenge. This work presents an online…
Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…
Multi-agent planning (MAP) approaches are typically oriented at solving loosely-coupled problems, being ineffective to deal with more complex, strongly-related problems. In most cases, agents work under complete information, building…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
We propose a method that allows to develop shared understanding between two agents for the purpose of performing a task that requires cooperation. Our method focuses on efficiently establishing successful task-oriented communication in an…
The paper proposes an intermittent communication mechanism for the tracking consensus of high-order nonlinear multi-agent systems (MASs) surrounded by random disturbances. Each collaborating agent is described by a class of high-order…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
This paper studies a consensus problem of multi-agent systems subjected to external disturbances over the clustered network. It considers that the agents are divided into several clusters. They are almost all the time isolated one from…
In complex multi-agent systems involving heterogeneous teams, uncertainty arises from numerous sources like environmental disturbances, model inaccuracies, and changing tasks. This causes planned trajectories to become infeasible, requiring…
This paper deals with solving distributed optimization problems with equality constraints by a class of uncertain nonlinear heterogeneous dynamic multi-agent systems. It is assumed that each agent with an uncertain dynamic model has limited…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…