Related papers: Multi-Robot Target Search using Probabilistic Cons…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
Future collaborative robots must be capable of finding objects. As such a fundamental skill, we expect object search to eventually become an off-the-shelf capability for any robot, similar to e.g., object detection, SLAM, and motion…
This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approach relies on gradient-based optimization of the observation…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…
We consider the problem of solving consensus using deterministic algorithms in a synchronous dynamic network with unreliable, directional point-to-point links, which are under the control of a message adversary. In contrast to a large body…
This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
In this paper we consider a network of processors aiming at cooperatively solving linear programming problems subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
In this paper, we solve a multi-robot informative path planning (MIPP) task under the influence of uncertain communication and adversarial attackers. The goal is to create a multi-robot system that can learn and unify its knowledge of an…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…