Related papers: A Framework for Collaborative Multi-Robot Mapping …
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…
Task generation for underwater multi-robot inspections without prior knowledge of existing geometry can be achieved and optimized through examination of simultaneous localization and mapping (SLAM) data. By considering hardware parameters…
Visual place recognition (VPR) capabilities enable autonomous robots to navigate complex environments by discovering the environment's topology based on visual input. Most research efforts focus on enhancing the accuracy and robustness of…
Mapping is an essential task for mobile robots and topological representation often works as a basis for the various applications. In this paper, a novel framework that can build topological maps incrementally is proposed. The algorithm is…
Mapping expansive regions is an arduous and often times incomplete when performed by a single agent. In this paper we illustrate an extension of \texttt{Full SLAM} \cite{Dellaert06ijrr} and \cite{dong}, which ensures smooth maps with…
Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…
This paper considers the problem of cooperative localization (CL) using inter-robot measurements for a group of networked robots with limited on-board resources. We propose a novel recursive algorithm in which each robot localizes itself in…
Autonomous robots are increasingly deployed to estimate spatiotemporal fields (e.g., wind, temperature, gas concentration) that vary across space and time. We consider environments divided into non-overlapping regions with distinct spatial…
The distributed coordination of robot teams performing complex tasks is challenging to formulate. The different aspects of a complete task such as local planning for obstacle avoidance, global goal coordination and collaborative mapping are…
Multi-Object Tracking (MOT) plays a crucial role in autonomous driving systems, as it lays the foundations for advanced perception and precise path planning modules. Nonetheless, single agent based MOT lacks in sensing surroundings due to…
Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to minimise the disruption caused to humans while moving. This implies predicting how people will move and complying with social…
Enriching the robot representation of the operational environment is a challenging task that aims at bridging the gap between low-level sensor readings and high-level semantic understanding. Having a rich representation often requires…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such as stairs, ramps, and multiple reachable elevations. This…
Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…
We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…