Related papers: Delivery to Safety with Two Cooperating Robots
With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…
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…
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…
In the context of Intelligent Transportation Systems and the delivery of goods, new technology approaches need to be developed in order to cope with certain challenges that last mile delivery entails, such as navigation in an urban…
Being able to transfer existing skills to new situations is a key capability when training robots to operate in unpredictable real-world environments. A successful transfer algorithm should not only minimize the number of samples that the…
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspectives, including navigation in dynamic environments, operation…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…
We consider the problem of developing robots that navigate like pedestrians on sidewalks through city centers for performing various tasks including delivery and surveillance. One particular challenge for such robots is crossing streets…
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…
Mobile robotic systems are increasingly used in various work environments to support productivity. However, deploying robots in workplaces crowded by human workers and interacting with them results in safety challenges and concerns, namely…
The multiple-path orienteering problem asks for paths for a team of robots that maximize the total reward collected while satisfying budget constraints on the path length. This problem models many multi-robot routing tasks such as exploring…
Multi-robot patrolling represents a fundamental problem for many monitoring and surveillance applications and has gained significant interest in recent years. In patrolling, mobile robots repeatedly travel through an environment, capture…
One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for…
This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and…
This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that…
We consider three related problems of robot movement in arbitrary dimensions: coverage, search, and navigation. For each problem, a spherical robot is asked to accomplish a motion-related task in an unknown environment whose geometry is…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…
Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical…