Related papers: Intermittent Deployment for Large-Scale Multi-Robo…

In this paper, we formulate and solve the intermittent deployment problem, which yields strategies that couple \emph{when} heterogeneous robots should sense an environmental process, with where a deployed team should sense in the…

We describe a challenging robotics deployment in a complex ecosystem to monitor a rich plant community. The study site is dominated by dynamic grassland vegetation and is thus visually ambiguous and liable to drastic appearance change over…

Degraded rangelands undergo continual shifts in the appearance and distribution of plant life. The nature of these changes however is subtle: between seasons seedlings sprout up and some flourish while others perish, meanwhile, over…

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…

Robots can be used to collect environmental data in regions that are difficult for humans to traverse. However, limitations remain in the size of region that a robot can directly observe per unit time. We introduce a method for selecting a…

Long-term autonomy is one of the most demanded capabilities looked into a robot. The possibility to perform the same task over and over on a long temporal horizon, offering a high standard of reproducibility and robustness, is appealing.…

Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…

Achieving long term autonomy of robots operating in dynamic environments such as farms remains a significant challenge. Arguably, the most demanding factors to achieve this are the on-board resource constraints such as energy, planning in…

This paper addresses multi-robot informative path planning (IPP) for environmental monitoring. The problem involves determining informative regions in the environment that should be visited by robots to gather the most information about the…

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…

Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…

Autonomous robots are increasingly deployed to estimate spatiotemporal fields (e.g., wind, temperature, gas concentration) that vary across space and time. We consider environments divided into non-overlapping regions with distinct spatial…

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…

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…

This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…

Monitoring moisture level of land in a large-scale plantation is tedious. The main objective of this project is to use a robotic kit in collaboration with the on-field moisture sensor circuits, thereby creating an efficient and economical…

We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

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…

In disaster response or surveillance operations, quickly identifying areas needing urgent attention is critical, but deploying response teams to every location is inefficient or often impossible. Effective performance in this domain…