Related papers: Multi-Robot Rendezvous in Unknown Environment with…
We consider two mobile oblivious robots that evolve in a continuous Euclidean space. We require the two robots to solve the rendezvous problem (meeting in finite time at the same location, not known beforehand) despite the possibility that…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
Mutual localization serves as the foundation for collaborative perception and task assignment in multi-robot systems. Effectively utilizing limited onboard sensors for mutual localization between marker-less robots is a worthwhile goal.…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
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…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…
This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The robots are equipped with individual sensors that allow them…
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…
This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…
In large-scale wireless networks such as mobile ad hoc and sensor networks, efficient and robust service discovery and data-access mechanisms are both essential and challenging. Rendezvous-based mechanisms provide a valuable solution for…