Related papers: Scalable Multirobot Planning for Informed Spatial …
In this paper, we consider a large-scale instance of the classical Pickup-and-Delivery Vehicle Routing Problem (PDVRP) that must be solved by a network of mobile cooperating robots. Robots must self-coordinate and self-allocate a set of…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
RoboCup represents an International testbed for advancing research in AI and robotics, focusing on a definite goal: developing a robot team that can win against the human world soccer champion team by the year 2050. To achieve this goal,…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
Quantiles of a natural phenomena can provide scientists with an important understanding of different spreads of concentrations. When there are several available robots, it may be advantageous to pool resources in a collaborative way to…
At modern warehouses, mobile robots transport packages and drop them into collection bins/chutes based on shipping destinations grouped by, e.g., the ZIP code. System throughput, measured as the number of packages sorted per unit of time,…
This paper considers the problem of online multi-robot motion planning with general nonlinear dynamics subject to unknown external disturbances. We propose dSLAP, a distributed safe learning and planning framework that allows the robots to…
Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
Informative path planning is an important and challenging problem in robotics that remains to be solved in a manner that allows for wide-spread implementation and real-world practical adoption. Among various reasons for this, one is the…
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…
This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile robot compresses its local map to assist another robot in…
Multi-task learning aims to learn multiple tasks jointly by exploiting their relatedness to improve the generalization performance for each task. Traditionally, to perform multi-task learning, one needs to centralize data from all the tasks…
We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
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…