Related papers: Range Limited Coverage Control using Air-Ground Mu…

In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…

This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…

This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…

Heterogeneous multi-robot systems are advantageous for operations in unknown environments because functionally specialised robots can gather environmental information, while others perform tasks. We define this decomposition as the…

We present the design and implementation of a decentralised, heterogeneous multi-robot system for performing intelligence, surveillance and reconnaissance (ISR) in an unknown environment. The team consists of functionally specialised robots…

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…

In this work we present an algorithm for covering continuous connected domains by ant-like robots with very limited capabilities. The robots can mark visited places with pheromone marks and sense the level of the pheromone in their local…

We present a comprehensive two-layer Voronoi coverage control approach for coordinating hybrid aerial-ground robot teams in hazardous material emergency response scenarios. Traditional Voronoi coverage control methods face three critical…

We present a framework for a ground-aerial robotic team to explore large, unstructured, and unknown environments. In such exploration problems, the effectiveness of existing exploration-boosting heuristics often scales poorly with the…

This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…

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…

The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…

This paper investigates the resilience of perception-based multi-robot coordination with wireless communication to online adversarial perception. A systematic study of this problem is essential for many safety-critical robotic applications…

We study multi-agent coverage algorithms for autonomous monitoring and patrol in urban environments. We consider scenarios in which a team of flying agents uses downward facing cameras (or similar sensors) to observe the environment outside…

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…

Ground robots always get collision in that only if they get close to the obstacles, can they sense the danger and take actions, which is usually too late to avoid the crash, causing severe damage to the robots. To address this issue, we…

Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…

In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…

We propose a centralized control framework to select suitable robots from a heterogeneous pool and place them at appropriate locations to monitor a region for events of interest. In the event of a robot failure, the framework repositions…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…