Related papers: Sensor-based Multi-agent Coverage Control with Spa…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
We present an approach to ensure safe and deadlock-free navigation for decentralized multi-robot systems operating in constrained environments, including doorways and intersections. Although many solutions have been proposed that ensure…
Most current results on coverage control using mobile sensors require that one partitioned cell is the sole responsibility of one sensor. In this paper, we consider a class of generalized Voronoi coverage control problems by using higher…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
Centralized approaches for multi-robot coverage planning problems suffer from the lack of scalability. Learning-based distributed algorithms provide a scalable avenue in addition to bringing data-oriented feature generation capabilities to…
IoT data collection networks have recently become one of the important research areas due to their fundamental role and wide application in many domains. The establishment of networks of objects is based essentially on the deployment of…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
Autonomous robot operation in unstructured environments is often underpinned by spatial understanding through vision. Systems composed of multiple concurrently operating robots additionally require access to frequent, accurate and reliable…
This article investigates the practical scenarios of chasing an adversarial evader in an unbounded environment with cluttered obstacles. We propose a Voronoi-based decentralized algorithm for multiple pursuers to encircle and capture the…
A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…
Autonomous navigation is the foundation of agricultural robots. This paper focuses on developing an advanced autonomous navigation system for a rover operating within row-based crops. A position-agnostic system is proposed to address the…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
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…
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,…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
We introduce a novel distributed source seeking framework, DIAS, designed for multi-robot systems in scenarios where the number of sources is unknown and potentially exceeds the number of robots. Traditional robotic source seeking methods…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
In this paper, we present a consensus-based decentralized multi-robot approach to reconstruct a discrete distribution of features, modeled as an occupancy grid map, that represent information contained in a bounded planar 2D environment,…
The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…