Related papers: Connectivity Maintenance for Multi-Robot Systems U…
Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g.,…
Distributed optimization offers a promising paradigm for trajectory planning in Unmanned Aerial Vehicle (UAV) swarms, yet its deployment in communication-constrained environments remains challenging due to unreliable links and limited data…
Achieving agile and reconfigurable production flows in smart factories depends on online multi-robot task assignment (MRTA), which requires online collision-free and congestion-free route scheduling of transportation multi-robot systems…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
This paper proposes methods for identification of large-scale networked systems with guarantees that the resulting model will be contracting -- a strong form of nonlinear stability -- and/or monotone, i.e. order relations between states are…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes…
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…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
Trajectory planning is crucial in multi-robot systems, particularly in environments with numerous obstacles. While extensive research has been conducted in this field, the challenge of coordinating multiple robots to flow collectively from…
Mobile robots, be it autonomous or teleoperated, require stable communication with the base station to exchange valuable information. Given the stochastic elements in radio signal propagation, such as shadowing and fading, and the…
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…
The problem of maintaining a wireless communication link between a fixed base station and an autonomous agent by means of a team of mobile robots is addressed in this work. Such problem can be of interest for search and rescue missions in…
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…
Fast and precise robot motion is needed in certain applications such as electronic manufacturing, additive manufacturing and assembly. Most industrial robot motion controllers allow externally commanded motion profile, but the trajectory…
This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a real dual-agent platform that integrates task decomposition and…
This work is concerned with the problem of planning trajectories and assigning tasks for a Multi-Agent System (MAS) comprised of differential drive robots. We propose a multirate hierarchical control structure that employs a planner based…