Related papers: Epistemic Planning for Heterogeneous Robotic Syste…

Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…

A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level…

Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…

Many species in nature demonstrate symbiotic relationships leading to emergent behaviors through cooperation, which are sometimes beyond the scope of the partnerships within the same species. These symbiotic relationships are classified as…

Multi-human multi-robot (MH-MR) systems have the ability to combine the potential advantages of robotic systems with those of having humans in the loop. Robotic systems contribute precision performance and long operation on repetitive tasks…

This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…

This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…

Heterogeneous robot teams operating in realistic settings often must accomplish complex missions requiring collaboration and adaptation to information acquired online. Because robot teams frequently operate in unstructured environments --…

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…

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…

Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…

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…

More widespread adoption requires swarms of robots to be more flexible for real-world applications. Multiple challenges remain in complex scenarios where a large amount of data needs to be processed in real-time and high degrees of…

In complex multi-agent systems involving heterogeneous teams, uncertainty arises from numerous sources like environmental disturbances, model inaccuracies, and changing tasks. This causes planned trajectories to become infeasible, requiring…

Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…

Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…

We present a substantial extension of our Human-Aware Task Planning framework, tailored for scenarios with intermittent shared execution experiences and significant belief divergence between humans and robots, particularly due to the…

Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…

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…