Related papers: Towards Decentralized Heterogeneous Multi-Robot SL…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…
Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…
Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…
The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language interfaces offers a unified approach for expressing the…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Autonomous or teleoperated robots have been playing increasingly important roles in civil applications in recent years. Across the different civil domains where robots can support human operators, one of the areas where they can have more…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
We show that a distributed network of robots or other devices which make measurements of each other can collaborate to globally localise via efficient ad-hoc peer to peer communication. Our Robot Web solution is based on Gaussian Belief…