Related papers: Needs-driven Heterogeneous Multi-Robot Cooperation…
We present a framework for Multi-Robot Task Allocation (MRTA) in heterogeneous teams performing long-endurance missions in dynamic scenarios. Given the limited battery of robots, especially for aerial vehicles, we allow for robot recharges…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
While individual robots are becoming increasingly capable, with new sensors and actuators, the complexity of expected missions increased exponentially in comparison. To cope with this complexity, heterogeneous teams of robots have become a…
This paper studies heterogeneous multi-team collaboration through dynamic robot allocation, where robots are treated as transferable resources. Leveraging Hamilton's rule from ecology as an altruistic decision-making mechanism, we propose a…
Attracted by team scale and function diversity, a heterogeneous multi-robot system (HMRS), where multiple robots with different functions and numbers are coordinated to perform tasks, has been widely used for complex and large-scale…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…
Research on human-robot collaboration or human-robot teaming, has focused predominantly on understanding and enabling collaboration between a single robot and a single human. Extending human-robot collaboration research beyond the dyad,…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…
There has been growing interest in the use of multi-robot systems in various tasks and scenarios. The main attractiveness of such systems is their flexibility, robustness, and scalability. An often overlooked yet promising feature is system…
Human-robot teams have the ability to perform better across various tasks than human-only and robot-only teams. However, such improvements cannot be realized without proper task allocation. Trust is an important factor in teaming…
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…
The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…
The use of semi-autonomous Unmanned Aerial Vehicles (UAVs or drones) to support emergency response scenarios, such as fire surveillance and search-and-rescue, has the potential for huge societal benefits. Onboard sensors and artificial…
Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…
We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…