Related papers: Energy-Aware Ergodic Search: Continuous Exploratio…
The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…
We revisit the linear search problem where a robot, initially placed at the origin on an infinite line, tries to locate a stationary target placed at an unknown position on the line. Unlike previous studies, in which the robot travels along…
Although exploratory behaviors are ubiquitous in the animal kingdom, their computational underpinnings are still largely unknown. Behavioral Psychology has identified learning as a primary drive underlying many exploratory behaviors.…
Battery-powered multirotor unmanned aerial vehicles (UAVs) can rapidly map unknown environments, but mission performance is often limited by energy rather than geometry alone. Standard exploration policies that optimise for coverage or time…
In the field of modern robotics, robots are proving to be useful in tackling high-risk situations, such as navigating hazardous environments like burning buildings, earthquake-stricken areas, or patrolling crime-ridden streets, as well as…
This paper studies control-theory-enabled intelligent charging management for battery systems in electric vehicles (EVs). Charging is crucial for the battery performance and life as well as a contributory factor to a user's confidence in or…
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)…
We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…
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…
Autonomous robots collaboratively exploring an unknown environment is still an open problem. The problem has its roots in coordination among non-stationary agents, each with only a partial view of information. The problem is compounded when…
This work pushes the boundaries of learning-based methods in autonomous robot exploration in terms of environmental scale and exploration efficiency. We present HEADER, an attention-based reinforcement learning approach with hierarchical…
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…
Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency…
As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…
Effective and intelligent exploration has been an unresolved problem for reinforcement learning. Most contemporary reinforcement learning relies on simple heuristic strategies such as $\epsilon$-greedy exploration or adding Gaussian noise…
Future planetary exploration rovers must operate for extended durations on hybrid power inputs that combine steady radioisotope thermoelectric generator (RTG) output with variable solar photovoltaic (PV) availability. While energy-aware…
The exploration \& exploitation dilemma poses significant challenges in reinforcement learning (RL). Recently, curiosity-based exploration methods achieved great success in tackling hard-exploration problems. However, they necessitate…
One aspect of the ever-growing need for long term autonomy of multi-robot systems, is ensuring energy sufficiency. In particular, in scenarios where charging facilities are limited, battery-powered robots need to coordinate to share access.…
The exploration problem in the discrete universe, using identical oblivious asynchronous robots without direct communication, has been well investigated. These robots have sensors that allow them to see their environment and move…
We present a decentralized ergodic control policy for time-varying area coverage problems for multiple agents with nonlinear dynamics. Ergodic control allows us to specify distributions as objectives for area coverage problems for nonlinear…