Related papers: Towards Decentralized Heterogeneous Multi-Robot SL…
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. We also employ a professional, static 3D scanner for ground truth…
Numerous Simultaneous Localization and Mapping (SLAM) algorithms have been presented in last decade using different sensor modalities. However, robust SLAM in extreme weather conditions is still an open research problem. In this paper,…
Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by the Robotics community to be a mature field. Currently, there are many open-source systems that are able to deliver fast and accurate estimation in typical real-world…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…
Device localization and radar-like mapping are at the heart of integrated sensing and communication, enabling not only new services and applications, but can also improve communication quality with reduced overheads. These forms of sensing…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
A team of multiple robots seamlessly and safely working in human-filled public environments requires adaptive task allocation and socially-aware navigation that account for dynamic human behavior. Current approaches struggle with highly…
This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be…
Decentralized swarm robotic solutions to searching for targets that emit a spatially varying signal promise task parallelism, time efficiency, and fault tolerance. It is, however, challenging for swarm algorithms to offer scalability and…
This work proposes a decentralized architecture, where individual agents aim at solving a classification problem while observing streaming features of different dimensions and arising from possibly different distributions. In the context of…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
Extensive research on graph-based dynamics and control of multi-agent systems has successfully demonstrated control of robotic swarms, where each robot is perceived as an independent agent virtually connected by a network topology. The…
We consider the problem of tracking multiple, unknown, and time-varying numbers of objects using a distributed network of heterogeneous sensors. In an effort to derive a formulation for practical settings, we consider limited and unknown…
We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…