Related papers: Coverage Path Planning with Budget Constraints for…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
Effective human-robot collaboration in open-world environments requires joint planning under uncertain conditions. However, existing approaches often treat humans as passive supervisors, preventing autonomous agents from becoming human-like…
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…
Coverage Path Planning involves visiting every unoccupied state in an environment with obstacles. In this paper, we explore this problem in environments which are initially unknown to the agent, for purposes of simulating the task of a…
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…
Multi-robot patrolling is the potential application for robotic systems to survey wide areas efficiently without human burdens and mistakes. However, such systems have few examples of real-world applications due to their lack of human…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
Multi-Agent Motion Planning (MAMP) finds various applications in fields such as traffic management, airport operations, and warehouse automation. In many of these environments, differential drive robots are commonly used. These robots have…
The technology for autonomous vehicles is close to replacing human drivers by artificial systems endowed with high-level decision-making capabilities. In this regard, systems must learn about the usual vehicle's behavior to predict imminent…
We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environment-oriented modality allows the user to modify the environment (either virtual or…
The growing demand for robust scene understanding in mobile robotics and autonomous driving has highlighted the importance of integrating multiple sensing modalities. By combining data from diverse sensors like cameras and LIDARs, fusion…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and…
Collaborative navigation of heterogeneous robots in unknown environments poses significant challenges due to sensing, communication, and computational limitations. In this work, a lead robot navigates toward a target while a mobile sensor…
In this work, we develop a distributed source routing algorithm for topology discovery suitable for ISP transport networks, that is however inspired by opportunistic algorithms used in ad hoc wireless networks. We propose a plug-and-play…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…