Related papers: Adaptive Goal Management System of Robots
Autonomous navigation in dynamic environment heavily depends on the environment and its topology. Prior knowledge of the environment is not usually accurate as the environment keeps evolving in time. Since robot is continuously evaluating…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
More widespread adoption requires swarms of robots to be more flexible for real-world applications. Multiple challenges remain in complex scenarios where a large amount of data needs to be processed in real-time and high degrees of…
Large Language Model (LLM) based multi-agent systems have shown remarkable performance in various tasks, especially when enhanced through collaborative communication. However, current methods often rely on a fixed number of agents and…
Multi-robot platforms are playing an increasingly important role in warehouse automation for efficient goods transport. This paper proposes a novel customization of a multi-robot system, called Tactile Mobile Manipulators (TacMMs). Each…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with limited field of view (FOV) sensors: adaptive tuning of interaction gains and rejection of sensor attacks. First, a typical…
Robots deployed in unstructured environments must coordinate whole-body motion -- simultaneously moving a mobile base and arm -- to interact with the physical world. This coupled mobility and dexterity yields a state space that grows…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
In crowd navigation, the local goal plays a crucial role in trajectory initialization, optimization, and evaluation. Recognizing that when the global goal is distant, the robot's primary objective is avoiding collisions, making it less…
This paper discusses the adaptive sampling problem in a nonholonomic mobile robotic sensor network for efficiently monitoring a spatial field. It is proposed to employ Gaussian process to model a spatial phenomenon and predict it at…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
With their prominent scene understanding and reasoning capabilities, pre-trained visual-language models (VLMs) such as GPT-4V have attracted increasing attention in robotic task planning. Compared with traditional task planning strategies,…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
Coordinated multi-robot navigation is an essential ability for a team of robots operating in diverse environments. Robot teams often need to maintain specific formations, such as wedge formations, to enhance visibility, positioning, and…
Fleets of unmanned robots can be beneficial for the long-term monitoring of large areas, e.g., to monitor wild flocks, detect intruders, search and rescue. Monitoring numerous dynamic targets in a collaborative and efficient way is a…
We seek methods to model, control, and analyze robot teams performing environmental monitoring tasks. During environmental monitoring, the goal is to have teams of robots collect various data throughout a fixed region for extended periods…