Related papers: Loss of Distributed Coverage Using Lazy Agents Ope…

We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…

We present the first distributed optimization algorithm with lazy communication for collaborative geometric estimation, the backbone of modern collaborative simultaneous localization and mapping (SLAM) and structure-from-motion (SfM)…

To perform cooperative tasks in a decentralized manner, multi-robot systems are often required to communicate with each other. Therefore, maintaining the communication graph connectivity is a fundamental issue when roaming a territory with…

Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…

We investigate ways for the exchange of information (explicit communication) among deaf and dumb mobile robots scattered in the plane. We introduce the use of movement-signals (analogously to flight signals and bees waggle) as a mean to…

This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…

The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…

In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…

This paper presents two algorithms for multi-agent dynamic coverage in spatiotemporal environments, where the coverage algorithms are informed by the method of data assimilation. In particular, we show that by explicitly modeling the…

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…

This paper presents a novel dynamic coverage control algorithm allowing a group of robots to track an optimal-deployment configuration for arbitrary time-varying density functions. Building on singular perturbation theory, the proposed…

In this paper, we address the multi-robot collaborative perception problem, specifically in the context of multi-view infilling for distributed semantic segmentation. This setting entails several real-world challenges, especially those…

A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training. Standard practices such as data augmentation attempt to bridge this gap by augmenting source images in an effort to…

We investigate the coordination and control problems of distributed discrete event systems that are composed of multiple subsystems subject to potential actuator and/or sensor faults. We model actuator faults as local controllability loss…

In this paper, we formulate and solve the intermittent deployment problem, which yields strategies that couple \emph{when} heterogeneous robots should sense an environmental process, with where a deployed team should sense in the…

Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…

This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…

This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…

This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…

This article examines the area coverage problem for a network of mobile robots with imprecise agents' localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based…