Related papers: Development of global optimal coverage control usi…
How to free a road from vehicle traffic as efficiently as possible and in a given time, in order to allow for example the passage of emergency vehicles? We are interested in this question which we reformulate as an optimal control problem.…
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…
In this paper, we present an advanced strategy for the coordinated control of a multi-agent aerospace system, utilizing Deep Neural Networks (DNNs) within a reinforcement learning framework. Our approach centers on optimizing autonomous…
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous agents. By posing the finite-horizon optimal control problem…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
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…
Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots. The method first assigns robots to goals to minimize total…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…