Related papers: LoCUS: A multi-robot loss-tolerant algorithm for s…
This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…
This paper tackles the problem of positioning a swarm of UAVs inside a completely unknown terrain, having as objective to maximize the overall situational awareness. The situational awareness is expressed by the number and quality of unique…
Recent years have seen a focus on research into distributed optimization algorithms for multi-robot Collaborative Simultaneous Localization and Mapping (C-SLAM). Research in this domain, however, is made difficult by a lack of standard…
Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm…
Due to the limited computing resources of swarm of drones, it is difficult to handle computation-intensive tasks locally, hence the cloud based computation offloading is widely adopted. However, for the business which requires low latency…
In this paper, we formulate the new multi-objective coverage (MOC) problem where our goal is to identify a small set of representative samples whose predicted outcomes broadly cover the feasible multi-objective space. This problem is of…
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…
With the growing global deployment of carbon capture and sequestration technology to combat climate change, monitoring and detection of potential CO2 leakage through existing or storage induced faults are critical to the safe and long-term…
We present PLUMES, a planner to localizing and collecting samples at the global maximum of an a priori unknown and partially observable continuous environment. The "maximum-seek-and-sample" (MSS) problem is pervasive in the environmental…
Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…
Studies of the photometric variability of astronomical sources from ground-based telescopes must overcome atmospheric extinction effects. Differential photometry by reference to an ensemble of reference stars which closely match the target…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
Particle Swarm Optimisation (PSO) is a powerful optimisation algorithm that can be used to locate global maxima in a search space. Recent interest in swarms of Micro Aerial Vehicles (MAVs) begs the question as to whether PSO can be used as…
We consider the positioning problem of aerial drone systems for efficient three-dimensional (3-D) coverage. Our solution draws from molecular geometry, where forces among electron pairs surrounding a central atom arrange their positions. In…
Given the importance of forests and their role in maintaining the ecological balance, which directly affects the planet, the climate, and the life on this planet, this research presents the problem of forest fire monitoring using drones.…
Decentralized swarm robotic solutions to searching for targets that emit a spatially varying signal promise task parallelism, time efficiency, and fault tolerance. It is, however, challenging for swarm algorithms to offer scalability and…
Aerial drones have great potential to monitor large areas quickly and efficiently. Aquaculture is an industry that requires continuous water quality data to successfully grow and harvest fish. The Hybrid Aerial Underwater Robotic System…
Crowd analysis from drones has attracted increasing attention in recent times due to the ease of use and affordable cost of these devices. However, how this technology can provide a solution to crowd flow detection is still an unexplored…
Accurate sound source localization (SSL), such as direction-of-arrival (DoA) estimation, relies on consistent multichannel data. However, batteryless systems often suffer from missing data due to the stochastic nature of energy harvesting,…