Related papers: 3D Multi-Robot Exploration with a Two-Level Coordi…
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,…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
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…
Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…
This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
With the real need of field exploration in large-scale and extreme outdoor environments, cooperative exploration tasks have garnered increasing attention. This paper presents a comprehensive review of multi-robot cooperative exploration…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
With the increasing need for multi-robot for exploring the unknown region in a challenging environment, efficient collaborative exploration strategies are needed for achieving such feat. A frontier-based Rapidly-Exploring Random Tree (RRT)…
In this paper, we present a receding-horizon, sampling-based planner capable of reasoning over multimodal policy distributions. By using the cross-entropy method to optimize a multimodal policy under a common cost function, our approach…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
In indoor environments, multi-robot visual (RGB-D) mapping and exploration hold immense potential for application in domains such as domestic service and logistics, where deploying multiple robots in the same environment can significantly…
Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly…
A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…