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In this paper, we present an approach for dynamic exploration and mapping of unknown environments using a swarm of biobotic sensing agents, with a stochastic natural motion model and a leading agent (e.g., an unmanned aerial vehicle). The…
In this paper, we present a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network is represented as a graph, and the agents are arbitrarily…
Unmanned Aerial Vehicles (UAVs) have a great potential to support search tasks in unstructured environments. Small, lightweight, low speed and agile UAVs, such as multi-rotors platforms can incorporate many kinds of sensors that are…
We study multi-agent coverage algorithms for autonomous monitoring and patrol in urban environments. We consider scenarios in which a team of flying agents uses downward facing cameras (or similar sensors) to observe the environment outside…
This paper presents a novel coverage control algorithm for multi-agent systems, where each agent has no prior knowledge of the specific region to be covered. The proposed method enables agents to autonomously detect the target area and…
Autonomous marine environmental monitoring problem traditionally encompasses an area coverage problem which can only be effectively carried out by a multi-robot system. In this paper, we focus on robotic swarms that are typically operated…
We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
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…
This work presents and experimentally test the framework used by our context-aware, distributed team of small Unmanned Aerial Systems (SUAS) capable of operating in real-time, in an autonomous fashion, and under constrained communications.…
This paper introduces a novel enhancement to the Decentralized Multi-Agent Reinforcement Learning (D-MARL) exploration by proposing communication-induced action space to improve the mapping efficiency of unknown environments using…
Continuous surveillance of a spatial region using distributed robots and sensors is a well-studied application in the area of multi-agent systems. This paper investigates a practically-relevant scenario where robotic sensors are introduced…
Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency…
Bolstering multi-agent learning algorithms to tackle complex coordination and control tasks has been a long-standing challenge of on-going research. Numerous methods have been proposed to help reduce the effects of non-stationarity and…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
It is always a challenging task for multi-agent systems to achieve efficient and robust coverage in uncertain environments. The absence of global positioning information on the uncertain environment introduces significant complexity to the…
Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that each agent has a line sensor of length 2r. We propose procedures for designing…
This paper addresses multi-UAV uniform sweep coverage in an unknown convex environment, where a homogeneous UAV swarm must evenly visit every portion of the environment for a sampling task without access to their position and orientation.…
Swarming systems, such as drone fleets and robotic teams, exhibit complex dynamics driven by both individual behaviors and emergent group-level interactions. Unlike traditional multi-agent domains such as pedestrian crowds or traffic…