Related papers: Multi-Robot Rendezvous in Unknown Environment with…
Two mobile agents, starting at arbitrary, possibly different times from arbitrary nodes of an unknown network, have to meet at some node. Agents move in synchronous rounds: in each round an agent can either stay at the current node or move…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
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 paper, we propose a probabilistic consensus-based multi-robot search strategy that is robust to communication link failures, and thus is suitable for disaster affected areas. The robots, capable of only local communication, explore…
This paper solves the rendezvous problem for a network of underactuated rigid bodies such as quadrotor helicopters. A control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood…
Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. In the proposed centralized multi-robot planner, a simultaneous matching and routing problem (SMRP) is…
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…
We address Multi-Robot Exploration and Relaying (MRER): a team of robots must explore an unknown environment and deliver acquired information to a fixed base station within a mission time limit. The central challenge is deciding when each…
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…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…
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…
Research into several aspects of robot-enabled reconnaissance of random fields is reported. The work has two major components: the underlying theory of information acquisition in the exploration of unknown fields and the results of…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently…
Contemporary approaches to perception, planning, estimation, and control have allowed robots to operate robustly as our remote surrogates in uncertain, unstructured environments. This progress now creates an opportunity for robots to…
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…