Related papers: Monitoring Over the Long Term: Intermittent Deploy…
Monitoring the health and vigor of grasslands is vital for informing management decisions to optimize rotational grazing in agriculture applications. To take advantage of forage resources and improve land productivity, we require knowledge…
We consider the problem of multi-robot sensor coverage, which deals with deploying a multi-robot team in an environment and optimizing the sensing quality of the overall environment. As real-world environments involve a variety of sensory…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…
In this paper, we demonstrate a formulation for optimizing coupled submodular maximization problems with provable sub-optimality bounds. In robotics applications, it is quite common that optimization problems are coupled with one another…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
Multi-robot systems performing continuous tasks face a performance trade-off when interrupted by urgent, time-critical sub-tasks. We investigate this trade-off in a scenario where a team must balance area patrolling with locating an…
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…
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…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
In this paper, we investigate how heterogeneous multi-robot systems with different sensing capabilities can observe a domain with an apriori unknown density function. Common coverage control techniques are targeted towards homogeneous teams…
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
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…
This paper addresses the challenge of assigning heterogeneous sensors (i.e., robots with varying sensing capabilities) for multi-target tracking. We classify robots into two categories: (1) sufficient sensing robots, equipped with range and…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
Persistent monitoring using robot teams is of interest in fields such as security, environmental monitoring, and disaster recovery. Performing such monitoring in a fully on-line decentralised fashion has significant potential advantages for…