Related papers: Mixed Observable RRT: Multi-Agent Mission-Planning…
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…
Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…
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…
The integration of physiological computing into mixed-initiative human-robot interaction systems offers valuable advantages in autonomous task allocation by incorporating real-time features as human state observations into the…
Traditional methods plan feasible paths for multiple agents in the stochastic environment. However, the methods' iterations with the changes in the environment result in computation complexities, especially for the decentralized agents…
Effective environment perception is crucial for enabling downstream robotic applications. Individual robotic agents often face occlusion and limited visibility issues, whereas multi-agent systems can offer a more comprehensive mapping of…
In the tasks of multi-robot collaborative area search, we propose the unified approach for simultaneous mapping for sensing more targets (exploration) while searching and locating the targets (coverage). Specifically, we implement a…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…
Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…
The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly…
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…
The problem of multi-robot target tracking asks for actively planning the joint motion of robots to track targets. In this paper, we focus on such target tracking problems in adversarial environments, where attacks or failures may…
We consider the problem of online path planning for joint detection and tracking of multiple unknown radio-tagged objects. This is a necessary task for gathering spatio-temporal information using UAVs with on-board sensors in a range of…
We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding…
Fleets of unmanned robots can be beneficial for the long-term monitoring of large areas, e.g., to monitor wild flocks, detect intruders, search and rescue. Monitoring numerous dynamic targets in a collaborative and efficient way is a…
Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…