Related papers: Distributed Information-based Source Seeking
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…
The problem of near-optimal distributed path planning to locally sensed targets is investigated in the context of large swarms. The proposed algorithm uses only information that can be locally queried, and rigorous theoretical results on…
Effective coordination of agents actions in partially-observable domains is a major challenge of multi-agent systems research. To address this, many researchers have developed techniques that allow the agents to make decisions based on…
We propose two distributed set-based observers using strip-based and set-propagation approaches for linear discrete-time dynamical systems with bounded modeling and measurement uncertainties. Both algorithms utilize a set-based diffusion…
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…
This paper introduces a state-machine model for a multi-modal, multi-robot environmental sensing algorithm tailored to dynamic real-world settings. The algorithm uniquely combines two exploration strategies for gas source localization and…
Objective: The main objective of this paper is to construct a distributed clustering algorithm based upon spatial data correlation among sensor nodes and perform data accuracy for each distributed cluster at their respective cluster head…
We introduce a Wireless Signal based Efficient multi-Robot eXploration (WiSER-X) algorithm applicable to a decentralized team of robots exploring an unknown environment with communication bandwidth constraints. WiSER-X relies only on local…
We consider the problem of collaborative distributed estimation in a large scale sensor network with statistically dependent sensor observations. In collaborative setup, the aim is to maximize the overall estimation performance by modeling…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
In this paper, we present a consensus-based decentralized multi-robot approach to reconstruct a discrete distribution of features, modeled as an occupancy grid map, that represent information contained in a bounded planar 2D environment,…
Environmental disasters such as flash floods are becoming more and more prevalent and carry an increasing burden on human civilization. They are usually unpredictable, fast in development, and extend across large geographical areas. The…
In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength…
The innovative agriculture system is revolutionizing how we farm, making it one of the most critical innovations of our time! Yet it faces significant connectivity challenges, particularly with the sensors that power this technology. An…
This paper presents BEASST (Behavioral Entropic Gradient-based Adaptive Source Seeking for Mobile Robots), a novel framework for robotic source seeking in complex, unknown environments. Our approach enables mobile robots to efficiently…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
In this work, we consider the problem of localizing multiple signal sources based on time-difference of arrival (TDOA) measurements. In the blind setting, in which the source signals are not known, the localization task is challenging due…
This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…
We consider the problem of localizing the source using range and range-difference measurements. Both the problems are non-convex and non-smooth and are challenging to solve. In this paper, we develop an iterative algorithm - Source…
This work discusses a novel method for estimating the location of a gas source based on spatially distributed concentration measurements taken, e.g., by a mobile robot or flying platform that follows a predefined trajectory to collect…