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The rapid development of Internet of Things (IoT) technologies has not only enabled new applications, but also presented new challenges for reliable communication with limited resources. In this work, we define a novel problem that can…
Hidden Markov Models with an underlying Mixture of Gaussian structure have proven effective in learning Human-Robot Interactions from demonstrations for various interactive tasks via Gaussian Mixture Regression. However, a mismatch occurs…
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…
Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…
Emergency response missions depend on the fast relay of visual information, a task to which unmanned aerial vehicles are well adapted. However, the effective use of unmanned aerial vehicles is often compromised by bandwidth limitations that…
A team of multiple robots seamlessly and safely working in human-filled public environments requires adaptive task allocation and socially-aware navigation that account for dynamic human behavior. Current approaches struggle with highly…
In this work, we propose a method for multiple mobile robot motion planning that efficiently plans for robot teams up to 128 robots (an order of magnitude larger than existing state-of-the-art methods) in congested settings with narrow…
Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…
The increasing deployment of agentic artificial intelligence (AI) systems has intensified the demand for efficient agent to agent communication, particularly over bandwidth limited wireless links. In embodied AI applications, agents must…
Building object-level maps can facilitate robot-environment interactions (e.g. planning and manipulation), but objects could often have multiple probable poses when viewed from a single vantage point, due to symmetry, occlusion or…
This paper investigates an autonomous aerial vehicle (AAV)-enabled integrated sensing, communication, and computation system, with a particular focus on integrating movable antennas (MAs) into the system for enhancing overall system…
This survey paper presents a comprehensive overview of the latest advancements in the field of Simultaneous Localization and Mapping (SLAM) with a focus on the integration of symbolic representation of environment features. The paper…
The multi-agent system (MAS) enables the sharing of capabilities among agents, such that collaborative tasks can be accomplished with high scalability and efficiency. MAS is increasingly widely applied in various fields. Meanwhile, the…
Many real-world reinforcement learning tasks require multiple agents to make sequential decisions under the agents' interaction, where well-coordinated actions among the agents are crucial to achieve the target goal better at these tasks.…
Multi-agent teaming achieves better performance when there is communication among participating agents allowing them to coordinate their actions for maximizing shared utility. However, when collaborating a team of agents with different…
This paper describes a framework for multi-robot coordination and motion planning with emphasis on inter-agent interactions. We focus on the characterization of inter-agent interactions with sufficient level of abstraction so as to allow…
Coordinating micro-robotic swarms in physiologically realistic, time-dependent fluid environments remains an unsolved challenge for biomedical and environmental applications. We present a hybrid Computational Fluid Dynamics -…
This paper investigates the problem of resource allocation for joint communication and radar sensing system on rate-splitting multiple access (RSMA) based unmanned aerial vehicle (UAV) system. UAV simultaneously communicates with multiple…
We explore space traffic management as an application of collision-free navigation in multi-agent systems where vehicles have limited observation and communication ranges. We investigate the effectiveness of transferring a collision…
Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital component for successful multi-robot operations in environments without an external positioning system, such as indoors, underground or underwater. In this paper, we…