Related papers: A Multi-Robot Task Assignment Framework for Search…
UAVs are increasingly being employed to carry out surveillance, parcel delivery, communication-support and other specific tasks. Their equipment and mission plan are carefully selected to minimize the carried load an overall resource…
Multi-human multi-robot teams (MH-MR) obtain tremendous potential in tackling intricate and massive missions by merging distinct strengths and expertise of individual members. The inherent heterogeneity of these teams necessitates advanced…
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
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 presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…
Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…
Single-task UAVs are increasingly being employed to carry out surveillance, parcel delivery, communication support, and other specific tasks. When the geographical area of operation of single-task missions is common, e.g., in post-disaster…
Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be…
Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents 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…
Transfer learning has the potential to reduce the burden of data collection and to decrease the unavoidable risks of the training phase. In this letter, we introduce a multirobot, multitask transfer learning framework that allows a system…
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…
One simplifying assumption made in distributed robot systems is that the robots are single-tasking: each robot operates on a single task at any time. While such a sanguine assumption is innocent to make in situations with sufficient…