Related papers: Graph-based Decentralized Task Allocation for Mult…
In time-sensitive and dynamic missions, multi-UAV teams must respond quickly to new information and objectives. This paper presents a dynamic decentralized task allocation algorithm for allocating new tasks that appear online during 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…
The increasing deployment of unmanned surface vehicles (USVs) require computational support and coverage in applications such as maritime search and rescue. Unmanned aerial vehicles (UAVs) can offer low-cost, flexible aerial services, and…
Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…
Large-scale Unmanned Aerial Vehicle (UAV) failures can split an unmanned aerial vehicle swarm network into disconnected sub-networks, making decentralized recovery both urgent and difficult. Centralized recovery methods depend on global…
This paper considers optimal traffic signal control in smart cities, which has been taken as a complex networked system control problem. Given the interacting dynamics among traffic lights and road networks, attaining controller adaptivity…
Nowadays, several real-world tasks require adequate environment coverage for maintaining communication between multiple robots, for example, target search tasks, environmental monitoring, and post-disaster rescues. In this study, we look…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
We consider the broad class of decentralized optimal resource allocation problems in wireless networks, which can be formulated as a constrained statistical learning problems with a localized information structure. We develop the use of…
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…
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…
Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for…
In this paper, we jointly design the power control and position dispatch for Multi-unmanned aerial vehicle (UAV)-enabled communication in device-to-device (D2D) networks. Our objective is to maximize the total transmission rate of downlink…
Spatial task allocation in systems such as multi-robot delivery or ride-sharing requires balancing efficiency with fair service across tasks. Greedy assignment policies that match each agent to its highest-preference or lowest-cost task can…
Fast moving but power hungry unmanned aerial vehicles (UAVs) can recharge on slow-moving unmanned ground vehicles (UGVs) to survey large areas in an effective and efficient manner. In order to solve this computationally challenging problem…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
This letter focuses on the task of Multi-Target Multi-Camera vehicle tracking. We propose to associate single-camera trajectories into multi-camera global trajectories by training a Graph Convolutional Network. Our approach simultaneously…
Multi-human multi-robot teams have great potential for complex and large-scale tasks through the collaboration of humans and robots with diverse capabilities and expertise. To efficiently operate such highly heterogeneous teams and maximize…
This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV…
In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…