Related papers: Intermittent Deployment for Large-Scale Multi-Robo…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
Data acquisition in animal ecology is rapidly accelerating due to inexpensive and accessible sensors such as smartphones, drones, satellites, audio recorders and bio-logging devices. These new technologies and the data they generate hold…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
Being able to estimate the traversability of the area surrounding a mobile robot is a fundamental task in the design of a navigation algorithm. However, the task is often complex, since it requires evaluating distances from obstacles, type…
The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…
A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…
We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synchronous, and on-demand. The recently proposed horizon-based…
We study the resource sharing problem in a drone-based wireless network. We consider a distributed control setting under uncertainty (i.e. unavailability of full information). In particular, the drones cooperate in serving the users while…
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
Mosquito habitat ranges are projected to expand due to climate change. This investigation aims to identify future mosquito habitats by analyzing preferred ecological conditions of mosquito larvae. After assembling a data set with…
We address the problem of efficient and unobstructed surveillance or communication in complex environments. On one hand, one wishes to use a minimal number of sensors to cover the environment. On the other hand, it is often important to…
In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…
The increased deployment of multi-robot systems (MRS) in various fields has led to the need for analysis of system-level performance. However, creating consistent metrics for MRS is challenging due to the wide range of system and…