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We address the problem of maintaining resource availability in a networked multi-robot team performing distributed tracking of unknown number of targets in an environment of interest. Based on our model, robots are equipped with sensing and…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…
Reinforcement learning in heterogeneous multi-agent scenarios is important for real-world applications but presents challenges beyond those seen in homogeneous settings and simple benchmarks. In this work, we present an actor-critic…
With the increasing demand for heterogeneous Unmanned Aerial Vehicle (UAV) swarms to perform complex tasks in urban environments, system design now faces major challenges, including efficient semantic understanding, flexible task planning,…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…
In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operating in unknown environments. For example, a volumetric…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
Connectivity and coverage are two crucial problems for wireless sensor networks. Several studies have focused on proposing solutions for improving and adjusting the initial deployment of a wireless sensor network to meet these two criteria.…
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…
Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However, in such environments, communication links may be…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
In this paper, we propose a cost-effective strategy for heterogeneous UAV swarm systems for cooperative aerial inspection. Unlike previous swarm inspection works, the proposed method does not rely on precise prior knowledge of the…
Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…
In this work, it is presented the development of a novel distributed algorithm performing robotic coverage, clustering and dispatch around an event in static-obstacle structured environments without relying on metric information.…
We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…
Although a number of solutions exist for the problems of coverage, search and target localization---commonly addressed separately---whether there exists a unified strategy that addresses these objectives in a coherent manner without being…