Related papers: Enhancing Security in Multi-Robot Systems through …
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that…
Coordination of multi-robot systems (MRSs) relies on efficient sensing and reliable communication among the robots. However, the sensors and communication channels of these robots are often vulnerable to cyberattacks and faults, which can…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
In this letter, we consider a distributed submodular maximization problem for multi-robot systems when attacked by adversaries. One of the major challenges for multi-robot systems is to increase resilience against failures or attacks. This…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…