Related papers: ACHORD: Communication-Aware Multi-Robot Coordinati…
The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
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…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
Agriculture is facing a labor crisis, leading to increased interest in fleets of small, under-canopy robots (agbots) that can perform precise, targeted actions (e.g., crop scouting, weeding, fertilization), while being supervised by human…
This paper is devoted to local sensing and communication for collective underwater systems used in networked and swarm modes. It is demonstrated that a specific combination of modal and sub-modal communication, used simultaneously for…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
We provide a communication- and computation-efficient method for distributed submodular optimization in robot mesh networks. Submodularity is a property of diminishing returns that arises in active information gathering such as mapping,…
Cooperative mission planning for heterogeneous teams of mobile robots presents a unique set of challenges, particularly when operating under communication constraints and limited computational resources. To address these challenges, we…
Information sharing is critical in time-sensitive and realistic multi-robot exploration, especially for smaller robotic teams in large-scale environments where connectivity may be sparse and intermittent. Existing methods often overlook…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Imagine advanced humanoid robots, powered by multimodal large language models (MLLMs), coordinating missions across industries like warehouse logistics, manufacturing, and safety rescue. While individual robots show local autonomy,…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
Communication constraints can significantly impact robots' ability to share information, coordinate their movements, and synchronize their actions, thus limiting coordination in Multi-Robot Exploration (MRE) applications. In this work, we…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Effective communication is crucial for deploying robots in mission-specific tasks, but inadequate or unreliable communication can greatly reduce mission efficacy, for example in search and rescue missions where communication-denied…
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…