Related papers: Multi-Agent Coordination for a Partially Observabl…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
RoboCup is an international scientific robot competition in which teams of multiple robots compete against each other. Its different leagues provide many sources of robotics data, that can be used for further analysis and application of…
We consider a team of mobile autonomous robots with the aim to cover a given set of targets. Each robot aims to select a target to cover and physically reach it by the final time in coordination with other robots given the locations of…
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,…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Advancing human-robot communication is crucial for autonomous systems operating in dynamic environments, where accurate real-time interpretation of human signals is essential. RoboCup provides a compelling scenario for testing these…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
Long-term monitoring of numerous dynamic targets can be tedious for a human operator and infeasible for a single robot, e.g., to monitor wild flocks, detect intruders, search and rescue. Fleets of autonomous robots can be effective by…
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…
Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…
We consider the problem of maximizing the algebraic connectivity of the communication graph in a network of mobile robots by moving them into appropriate positions. We define the Laplacian of the graph as dependent on the pairwise distance…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…