Related papers: Autonomous Multiple-Trolley Collection System with…
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…
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…
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…
Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe…
We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…
In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…
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…
We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot…
This paper presents a scalable solution with adjustable computation time for the joint problem of scheduling and assigning machines and transporters for missions that must be completed in a fixed order of operations across multiple stages.…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…
Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a…
Selective interception of objects in unknown environment autonomously by UAVs is an interesting problem. In this work, vision based interception is carried out. This problem is a part of challenge 1 of Mohammed Bin Zayed International…
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation due to the inherent complexity of deformation and,…