Related papers: coExplore: Combining multiple rankings for multi-r…
Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…
Autonomous exploration in mobile robotics often involves a trade-off between two objectives: maximizing environmental coverage and minimizing the total path length. In the widely used information gain paradigm, exploration is guided by the…
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
In disaster response or surveillance operations, quickly identifying areas needing urgent attention is critical, but deploying response teams to every location is inefficient or often impossible. Effective performance in this domain…
The use of mobile robots is being popular over the world mainly for autonomous explorations in hazardous/ toxic or unknown environments. This exploration will be more effective and efficient if the explorations in unknown environment can be…
Autonomous exploration in unknown environments using mobile robots is the pillar of many robotic applications. Existing exploration frameworks either select the nearest geometric frontier or the nearest information-theoretic frontier.…
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…
This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Autonomous robots collaboratively exploring an unknown environment is still an open problem. The problem has its roots in coordination among non-stationary agents, each with only a partial view of information. The problem is compounded when…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
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…
The graph exploration problem requires a group of mobile robots, initially placed arbitrarily on the nodes of a graph, to work collaboratively to explore the graph such that each node is eventually visited by at least one robot. One…
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
We study a problem of multi-agent exploration with behaviorally heterogeneous robots. Each robot maps its surroundings using SLAM and identifies a set of areas of interest (AoIs) or frontiers that are the most informative to explore next.…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…