Related papers: Active Collaborative Localization in Heterogeneous…
Quadruped robots have the distinct ability to adapt their body and step height to navigate through cluttered environments. Nonetheless, for these robots to utilize their full potential in real-world scenarios, they require awareness of…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
Unmanned Aerial Vehicles (UAVs) offer significant potential in dynamic, perception-intensive tasks such as search and rescue and environmental monitoring; however, their effectiveness is severely restricted by conventional pre-planned…
Knowing the position of the robot in the world is crucial for navigation. Nowadays, Bayesian filters, such as Kalman and particle-based, are standard approaches in mobile robotics. Recently, end-to-end learning has allowed for scaling-up to…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a $\textit{blind}$ robot, and…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
In disaster response scenarios, deploying robotic teams effectively is crucial for improving situational awareness and enhancing search and rescue operations. The use of robots in search and rescue has been studied but the question of where…
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several applications including search-and-rescue and precision agriculture.…
Autonomous robot teams navigating partially known environments face costly backtracking when ground robots encounter blocked roads that are only revealed upon physical traversal. We address this with Scout-Assisted Planning, a heterogeneous…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
Collaborative state estimation using different heterogeneous sensors is a fundamental prerequisite for robotic swarms operating in GPS-denied environments, posing a significant research challenge. In this paper, we introduce a centralized…
The need for efficient monitoring of spatio-temporal dynamics in large environmental applications, such as the water quality monitoring in rivers and lakes, motivates the use of robotic sensors in order to achieve sufficient spatial…
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…