Related papers: DGORL: Distributed Graph Optimization based Relati…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
Relative localization is a crucial capability for multi-robot systems operating in GPS-denied environments. Existing approaches for multi-robot relative localization often depend on costly or short-range sensors like cameras and LiDARs.…
Over the years, much research involving mobile computational entities has been performed. From modeling actual microscopic (and smaller) robots, to modeling software processes on a network, many important problems have been studied in this…
In the classical facility location problem we consider a graph $G$ with fixed weights on the edges of $G$. The goal is then to find an optimal positioning for a set of facilities on the graph with respect to some objective function. We…
We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…
We study the convergence of a variant of distributed gradient descent (DGD) on a distributed low-rank matrix approximation problem wherein some optimization variables are used for consensus (as in classical DGD) and some optimization…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
In this study, we address multi-robot localization issues, with a specific focus on cooperative localization and observability analysis of relative pose estimation. Cooperative localization involves enhancing each robot's information…
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…
Nowadays, several real-world tasks require adequate environment coverage for maintaining communication between multiple robots, for example, target search tasks, environmental monitoring, and post-disaster rescues. In this study, we look…
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…
Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is…
In this paper, we generalize proximal methods that were originally designed for convex optimization on normed vector space to non-convex pose graph optimization (PGO) on special Euclidean groups, and show that our proposed generalized…
Consider robot swarm wireless networks where mobile robots offload their computing tasks to a computing server located at the mobile edge. Our aim is to maximize the swarm lifetime through efficient exploitation of the correlation between…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fold. The first is the difficulty of…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot…
Pose graph optimization is a special case of the simultaneous localization and mapping problem where the only variables to be estimated are pose variables and the only measurements are inter-pose constraints. The vast majority of pose graph…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…