Related papers: RLSS: Real-time, Decentralized, Cooperative, Netwo…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Patrolling with multiple robots offers efficient surveillance to detect and manage undesired situations. This necessitates improved patrol efficiency and operator situation awareness at base stations. Enhanced situation awareness enables…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
It is crucial to efficiently execute instructions such as "Find an apple and a banana" or "Get ready for a field trip," which require searching for multiple objects or understanding context-dependent commands. This study addresses the…
Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
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…
Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…
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…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
This work addresses the problem of motion planning for a group of nonholonomic robots under Visible Light Communication (VLC) connectivity requirements. In particular, we consider an inspection task performed by a Robot Chain Control System…
Decentralized cooperative localization (DCL) is a promising approach for nonholonomic mobile robots operating in GPS-denied environments with limited communication infrastructure. This paper presents a DCL framework in which each robot…
Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and identification. We present a novel pipeline for online…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…