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Off-world multi-robot exploration is challenged by sparse targets, limited sensing, hazardous terrain, and restricted communication. Many scientifically valuable clues are visually ambiguous and often require close-range observations,…
While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean…
Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…
Exploration is a fundamental problem in robotics. While sampling-based planners have shown high performance, they are oftentimes compute intensive and can exhibit high variance. To this end, we propose to directly learn the underlying…
Reliable coordination and efficient communication are critical challenges for multi-agent robotic exploration of environments where communication is limited. This work introduces Adaptive-RF Transmission (ART), a novel communication-aware…
One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…
In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…
In the field of modern robotics, robots are proving to be useful in tackling high-risk situations, such as navigating hazardous environments like burning buildings, earthquake-stricken areas, or patrolling crime-ridden streets, as well as…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
Efficient autonomous exploration in large-scale environments remains challenging due to the high planning computational cost and low-speed maneuvers. In this paper, we propose a fast and computationally efficient dual-layer exploration…
We present a framework for a ground-aerial robotic team to explore large, unstructured, and unknown environments. In such exploration problems, the effectiveness of existing exploration-boosting heuristics often scales poorly with the…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…
Fleets of autonomous robots have been deployed for exploration of unknown scenes for features of interest, e.g., subterranean exploration, reconnaissance, search and rescue missions. During exploration, the robots may encounter…
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.,…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly…
Although the use of multiple Unmanned Aerial Vehicles (UAVs) has great potential for fast autonomous exploration, it has received far too little attention. In this paper, we present RACER, a RApid Collaborative ExploRation approach using a…
In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a…