Related papers: Measurement Scheduling for Cooperative Localizatio…
This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, uncertain labeled targets. These targets are governed by…
Wireless localization is a key requirement for many applications. It concerns position estimation of mobile nodes (agents) relative to fixed nodes (anchors) from wireless channel measurements. Cooperative localization is an advanced concept…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…
Household robots have been a longstanding research topic, but they still lack human-like intelligence, particularly in manipulating open-set objects and navigating large environments efficiently and accurately. To push this boundary, we…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
Object transportation in cluttered environments is a fundamental task in various domains, including domestic service and warehouse logistics. In cooperative object transport, multiple robots must coordinate to move objects that are too…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
*The following abbreviates the abstract. Please refer to the thesis for the full abstract.* After a disaster, locating and extracting victims quickly is critical because mortality rises rapidly after the first two days. To assist search and…
Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…
Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surroundings and the ability to localize the robot within the…
In this work, we investigate swarm self-clustering, where robots autonomously organize into spatially coherent groups using only local sensing and decision-making, without external commands, global positioning, or inter-robot communication.…
A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each…
This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that…
We consider here the MultiBot problem for the scheduling and the resource parametrization of jobs related to the production or the transportation of different products inside a given time horizon. Those jobs must meet known in advance…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…