Related papers: HoLA Robots: Mitigating Plan-Deviation Attacks in …
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
Securing petroleum infrastructure requires balancing autonomous system efficiency with human judgment for threat escalation, a challenge unaddressed by classical facility location models assuming homogeneous resources. This paper formulates…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
As humanoid robots transition from labs to real-world environments, it is essential to democratize robot control for non-expert users. Recent human-robot imitation algorithms focus on following a reference human motion with high precision,…
This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
In this paper, a novel framework is presented that achieves a combined solution based on Multi-Robot Task Allocation (MRTA) and collision avoidance with respect to homogeneous measurement tasks taking place in industrial environments. The…
This paper addresses the problem of cooperative target tracking using a heterogeneous multi-robot system, where the robots are communicating over a dynamic communication network, and heterogeneity is in terms of different types of sensors…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense stochastic map of the environment into account, while safety…