Related papers: Cooperative Transportation using Multiple Single-R…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…
A system of cooperative unmanned aerial vehicles (UAVs) is a group of agents interacting with each other and the surrounding environment to achieve a specific task. In contrast with a single UAV, UAV swarms are expected to benefit…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…
Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
A leader-follower system is developed for cooperative transportation. To the best of our knowledge, this is the first work that inter-UAV communication is not required and the reference trajectory of the payload can be modified in real…
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…
This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from…
Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weight constraints. Conventional approaches rely on static equilibrium conditions, where each vehicle tilts to generate the forces that…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
Small unmanned aerial vehicles (UAVs) have generally little capacity to carry payloads. Through collaboration, the UAVs can increase their joint payload capacity and carry more significant loads. For maximum flexibility to dynamic and…
This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own…
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit…
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…