Related papers: Collaborative Dispersion by Silent Robots
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…
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…
In this paper, we propose a decentralized coordina- tion algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on a shared…
We study the problem of collective tree exploration in which a team of $k$ mobile agents must collectively visit all nodes of an unknown tree in as few moves as possible. The agents all start from the root and discover adjacent edges as…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
Two cooperating, autonomous mobile robots with arbitrary nonzero max speeds are placed at arbitrary initial positions in the plane. A remotely detonated bomb is discovered at some source location and must be moved to a safe distance away…
The distributed coordination of robot teams performing complex tasks is challenging to formulate. The different aspects of a complete task such as local planning for obstacle avoidance, global goal coordination and collaborative mapping are…
Motivated by the increasing need for fast processing of large-scale graphs, we study a number of fundamental graph problems in a message-passing model for distributed computing, called $k$-machine model, where we have $k$ machines that…
In this paper, we study distributed graph algorithms in networks in which the nodes have a limited communication capacity. Many distributed systems are built on top of an underlying networking infrastructure, for example by using a virtual…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
This paper considers the problem of cooperative localization (CL) using inter-robot measurements for a group of networked robots with limited on-board resources. We propose a novel recursive algorithm in which each robot localizes itself in…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
We consider the problem of classifying a map using a team of communicating robots. It is assumed that all robots have localized visual sensing capabilities and can exchange their information with neighboring robots. Using a graph…
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
In this paper, we study the question of how efficiently a collection of interconnected nodes can perform a global computation in the widely studied GOSSIP model of communication. In this model, nodes do not know the global topology of the…
We consider the problem of maximizing the algebraic connectivity of the communication graph in a network of mobile robots by moving them into appropriate positions. We define the Laplacian of the graph as dependent on the pairwise distance…
We observe a large variety of robots in terms of their bodies, sensors, and actuators. Given the commonalities in the skill sets, teaching each skill to each different robot independently is inefficient and not scalable when the large…