Related papers: Technical Report: Distributed Sampling-based Plann…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
In many environmental monitoring scenarios, the sampling robot needs to simultaneously explore the environment and exploit features of interest with limited time. We present an anytime multi-objective informative planning method called…
We study a distributed Kalman filtering problem in which a number of nodes cooperate without central coordination to estimate a common state based on local measurements and data received from neighbors. This is typically done by running a…
We consider a multi-robot system with a team of collaborative robots and multiple tasks that emerges over time. We propose a fully decentralized task and path planning (DTPP) framework consisting of a task allocation module and a localized…
Solving a collision-aware multi-agent mission planning (task allocation and path finding) problem is challenging due to the requirement of real-time computational performance, scalability, and capability of handling static/dynamic obstacles…
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 considers a multiagent, connected, robotic fleet where the primary functionality of the agents is sensing. A distributed multi-sensor control strategy maximizes the value of the collective sensing capability of the fleet, using…
We study dynamic multi-robot task allocation under uncertain task completion, time-window constraints, and incomplete information. Tasks arrive online over a finite horizon and must be completed within specified deadlines, while agents…
Robotics has dramatically increased our ability to gather data about our environments, creating an opportunity for the robotics and algorithms communities to collaborate on novel solutions to environmental monitoring problems. To understand…
Robot allocation plays an essential role in facilitating robotic service provision across various domains. Yet the increasing number of users and the uncertainties regarding the users' true service requirements have posed challenges for the…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…
We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Distributed algorithms for both discrete-time and continuous-time linearly solvable optimal control (LSOC) problems of networked multi-agent systems (MASs) are investigated in this paper. A distributed framework is proposed to partition the…
Multi-robot patrolling is the potential application for robotic systems to survey wide areas efficiently without human burdens and mistakes. However, such systems have few examples of real-world applications due to their lack of human…
Autonomous robots for gathering information on objects of interest has numerous real-world applications because of they improve efficiency, performance and safety. Realizing autonomy demands online planning algorithms to solve sequential…