Related papers: Stigmergy-based, Dual-Layer Coverage of Unknown In…
This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera of conical FOV…
The deployment of unmanned aerial vehicle (UAV) swarm-assisted communication networks has become an increasingly vital approach for remediating coverage limitations in infrastructure-deficient environments, with especially pressing…
Efficient navigation in swarms often relies on the emergence of decentralized approaches that minimize traversal time or energy. Stigmergy, where agents modify a shared environment that then modifies their behavior, is a classic mechanism…
In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
The mine detection in an unexplored area is an optimization problem where multiple mines, randomly distributed throughout an area, need to be discovered and disarmed in a minimum amount of time. We propose a strategy to explore an unknown…
Unmanned aerial vehicles (UAVs) can be used to provide wireless network and remote surveillance coverage for disaster-affected areas. During such a situation, the UAVs need to return periodically to a charging station for recharging, due to…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…
In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate…
Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in such applications, promising to cover large areas at high…
This paper presents a UAV swarm system designed to assist first responders in disaster scenarios like wildfires. By distributing sensors across multiple agents, the system extends flight duration and enhances data availability, reducing the…
Swarm Intelligence-based optimization techniques combine systematic exploration of the search space with information available from neighbors and rely strongly on communication among agents. These algorithms are typically employed to solve…
In this paper, we consider the problem of a swarm traveling between two points as fast as possible in an unknown environment cluttered with obstacles. Potential applications include search-and-rescue operations where damaged environments…
Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…
Unmanned aerial vehicles (UAVs) can be used as aerial wireless base stations when cellular networks go down. Prior studies on UAV-based wireless coverage typically consider an Air-to-Ground path loss model, which assumes that the users are…
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…
Unmanned aerial vehicles (UAVs) can be used as aerial wireless base stations when cellular networks are not operational due to natural disasters. They can also be used to supplement the ground base station in order to provide better…
In this work, it is presented the development of a novel distributed algorithm performing robotic coverage, clustering and dispatch around an event in static-obstacle structured environments without relying on metric information.…
Covering a bounded region with minimum number of homogeneous sensor nodes is a NP-complete problem \cite{Li09}. In this paper we have proposed an {\it id} based distributed algorithm for optimal coverage in an unbounded region. The proposed…
In this work we consider a multi-robot team operating in an unknown environment where one aerial agent is tasked to map the environment and transmit (a portion of) the mapped environment to a group of ground agents that are trying to reach…