Related papers: Stochastic strategies for patrolling a terrain wit…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
Using mobile robots for autonomous patrolling of environments to prevent intrusions is a topic of increasing practical relevance. One of the most challenging scientific issues is the problem of finding effective patrolling strategies that,…
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…
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…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
In this Paper we propose a simple yet effective set of local control rules to make a group of "herder agents" collect and contain in a desired region an ensemble of non-cooperative stochastic "target agents" in the plane. We investigate the…
Wildfires are destructive and inflict massive, irreversible harm to victims' lives and natural resources. Researchers have proposed commissioning unmanned aerial vehicles (UAVs) to provide firefighters with real-time tracking information;…
This paper studies a stochastic robotic surveillance problem where a mobile robot moves randomly on a graph to capture a potential intruder that strategically attacks a location on the graph. The intruder is assumed to be omniscient: it…
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 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…
We present and analyze methods for patrolling an environment with a distributed swarm of robots. Our approach uses a physical data structure - a distributed triangulation of the workspace. A large number of stationary "mapping" robots cover…
We propose novel techniques for task allocation and planning in multi-robot systems operating in uncertain environments. Task allocation is performed simultaneously with planning, which provides more detailed information about individual…
We seek methods to model, control, and analyze robot teams performing environmental monitoring tasks. During environmental monitoring, the goal is to have teams of robots collect various data throughout a fixed region for extended periods…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
Data-driven control strategies for dynamical systems with unknown parameters are popular in theory and applications. An essential problem is to prevent stochastic linear systems becoming destabilized, due to the uncertainty of the…