Related papers: Multi-Robot Autonomous Exploration and Mapping Und…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
In this paper, we present algorithms to identify environmental hotspots using mobile sensors. We examine two approaches: one involving a single robot and another using multiple robots coordinated through a decentralized robot system. We…
Swarm robotic search is concerned with searching targets in unknown environments (e.g., for search and rescue or hazard localization), using a large number of collaborating simple mobile robots. In such applications, decentralized swarm…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
This paper presents a simultaneous localization and map-assisted environment recognition (SLAMER) method. Mobile robots usually have an environment map and environment information can be assigned to the map. Important information for mobile…
Multi-robot patrolling is the potential application for robotic systems to survey wide areas efficiently without human burdens and mistakes. However, such systems have few examples of real-world applications due to their lack of human…
Exploration of unknown space with an autonomous mobile robot is a well-studied problem. In this work we broaden the scope of exploration, moving beyond the pure geometric goal of uncovering as much free space as possible. We believe that…
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 paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
In the classical context of robotic mapping and localization, map matching is typically defined as the task of finding a rigid transformation (i.e., 3DOF rotation/translation on the 2D moving plane) that aligns the query and reference maps…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
We introduce a Wireless Signal based Efficient multi-Robot eXploration (WiSER-X) algorithm applicable to a decentralized team of robots exploring an unknown environment with communication bandwidth constraints. WiSER-X relies only on local…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…