Related papers: Multi-Robot Rendezvous in Unknown Environment with…
Monitoring the health and vigor of grasslands is vital for informing management decisions to optimize rotational grazing in agriculture applications. To take advantage of forage resources and improve land productivity, we require knowledge…
Two mobile agents represented by points freely moving in the plane and starting at two distinct positions, have to meet. The meeting, called rendezvous, occurs when agents are at distance at most $r$ of each other and never move after this…
With the increasing need for multi-robot for exploring the unknown region in a challenging environment, efficient collaborative exploration strategies are needed for achieving such feat. A frontier-based Rapidly-Exploring Random Tree (RRT)…
In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
The gathering over meeting nodes problem requires the robots to gather at one of the pre-defined meeting nodes. This paper investigates the problem with respect to the objective function that minimizes the total number of moves made by all…
We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…
We present the design and implementation of a decentralised, heterogeneous multi-robot system for performing intelligence, surveillance and reconnaissance (ISR) in an unknown environment. The team consists of functionally specialised robots…
Autonomous exploration of unknown environments has been widely applied in inspection, surveillance, and search and rescue. In exploration task, the basic requirement for robots is to detect the unknown space as fast as possible. In this…
This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled…
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to…
On-line motion planning in unknown environments is a challenging problem as it requires (i) ensuring collision avoidance and (ii) minimizing the motion time, while continuously predicting where to go next. Previous approaches to on-line…
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…
Robotic exploration of unknown environments is fundamentally a problem of decision making under uncertainty where the robot must account for uncertainty in sensor measurements, localization, action execution, as well as many other factors.…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited inter-robot communication. The robots explore the…
This paper addresses the problem of the communication of optimally compressed information for mobile robot path-planning. In this context, mobile robots compress their current local maps to assist another robot in reaching a target in an…