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We consider the monotonic tracking control problem for continuous-time single-input single-output linear systems using output-feedback linear controllers in this paper. We provide the necessary and sufficient conditions for this problem to…
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…
Usage of purely vision based solutions for row switching is not well explored in existing vision based crop row navigation frameworks. This method only uses RGB images for local feature matching based visual feedback to exit crop row. Depth…
We consider n robots with limited visibility: each robot can observe other robots only up to a constant distance denoted as the viewing range. The robots operate in discrete rounds that are either fully synchronous (FSync) or…
We propose a new camera-based method of robot identification, tracking and orientation estimation. The system utilises coloured lights mounted in a circle around each robot to create unique colour sequences that are observed by a camera.…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
Autonomous exploration in unknown environments using mobile robots is the pillar of many robotic applications. Existing exploration frameworks either select the nearest geometric frontier or the nearest information-theoretic frontier.…
This paper addresses the problem of optimal control of robotic sensing systems aimed at autonomous information gathering in scenarios such as environmental monitoring, search and rescue, and surveillance and reconnaissance. The information…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
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…
We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
In this paper, we investigate how heterogeneous multi-robot systems with different sensing capabilities can observe a domain with an apriori unknown density function. Common coverage control techniques are targeted towards homogeneous teams…
We investigate the universality of multi-spin systems in architectures of various symmetries of coupling type and topology. Explicit reachability sets under symmetry constraints are provided. Thus for a given (possibly symmetric)…
Robust autonomous navigation in environments with limited visibility remains a critical challenge in robotics. We present a novel approach that leverages Non-Line-of-Sight (NLOS) sensing using single-photon LiDAR to improve visibility and…
Efficient operation of distribution grids in the smart-grid era is hindered by the limited presence of real-time nodal and line meters. In particular, this prevents the easy estimation of grid topology and associated line parameters that…
The goal of coordinated multi-robot exploration tasks is to employ a team of autonomous robots to explore an unknown environment as quickly as possible. Compared with human-designed methods, which began with heuristic and rule-based…
In vegetated environments, such as forests, exploratory robots play a vital role in navigating complex, cluttered environments where human access is limited and traditional equipment struggles. Visual occlusion from obstacles, such as…
The synchrotron light source, a cutting-edge large-scale user facility, requires autonomous synchrotron beamline operations, a crucial technique that should enable experiments to be conducted automatically, reliably, and safely with minimum…