Related papers: Navigating A Mobile Robot Using Switching Distribu…
In industrial environments, predicting human actions is essential for ensuring safe and effective collaboration between humans and robots. This paper introduces a perception framework that enables mobile robots to understand and share…
One important application of the Wireless Sensor Network(WSN) is target tracking, the aim of this application is converging to an event or object in an area. In this paper, we propose an energy-efficient distributed sensor activation…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…
Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from images of the current state (e.g., a bird's-eye view of a SLAM…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
Mobile robots are used in various fields, from deliveries to search and rescue applications. Different types of sensors are mounted on the robot to provide accurate navigation and, thus, allow successful completion of its task. In…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Two key issues in MWSNs - energy consumption, which is dominated by sensor movement, and sensing coverage - have attracted plenty of…
In time-critical wireless sensor network (WSN) applications, a high degree of reliability is commonly required. A dynamical jumping real-time fault-tolerant routing protocol (DMRF) is proposed in this paper. Each node utilizes the remaining…
This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Over the past decade, a multitude of service robots have been developed to fulfill a wide range of practical purposes. Notably, roles such as reception and robotic guidance have garnered extensive popularity. In these positions, robots are…
Inter-robot communication enables multi-robot systems to coordinate and execute complex missions efficiently. Thus, maintaining connectivity of the communication network between robots is essential for many multi-robot systems. In this…
Wireless Sensor Networks (WSNs) are highly distributed networks consisting of a large number of tiny, low-cost, light-weight wireless nodes deployed to monitor an environment or a system. Each node in a WSN consists of three subsystems: the…
Autonomous navigation of mobile robots is a well studied problem in robotics. However, the navigation task becomes challenging when multi-robot systems have to cooperatively navigate dynamic environments with deadlock-prone layouts. We…
In this paper, we consider a sensor placement problem where sensors can move within a network over time. Sensor placement problem aims to select K sensor positions from N candidates where K < N. Most existing methods assume that sensor…
This paper considers the problem of assigning multiple mobile robots to goals on transport networks with uncertain information about travel times. Our aim is to produce optimal assignments, such that the average waiting time at destinations…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…