Related papers: Active Sensing Strategy: Multi-Modal, Multi-Robot …
This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…
Gas source localization is pivotal for the rapid mitigation of gas leakage disasters, where mobile robots emerge as a promising solution. However, existing methods predominantly schedule robots' movements based on reactive stimuli or…
Source localization in a complex flow poses a significant challenge for multi-robot teams tasked with localizing the source of chemical leaks or tracking the dispersion of an oil spill. The flow dynamics can be time-varying and chaotic,…
A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…
Signal source localization has been a problem of interest in the multi-robot systems domain given its applications in search & rescue and hazard localization in various industrial and outdoor settings. A variety of multi-robot search…
In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking robot planner is a model that can produce estimates of the…
Enabling autonomous operation of large-scale construction machines, such as excavators, can bring key benefits for human safety and operational opportunities for applications in dangerous and hazardous environments. To facilitate robot…
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…
Source seeking is an important topic in robotic research, especially considering sound-based sensors since they allow the agents to locate a target even in critical conditions where it is not possible to establish a direct line of sight. In…
Sensors are routinely mounted on robots to acquire various forms of measurements in spatio-temporal fields. Locating features within these fields and reconstruction (mapping) of the dense fields can be challenging in resource-constrained…
Gas source localization (GSL) with an autonomous robot is a problem with many prospective applications, from finding pipe leaks to emergency-response scenarios. In this work, we present a new method to perform GSL in realistic indoor…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Active search refers to the problem of efficiently locating targets in an unknown environment by actively making data-collection decisions, and has many applications including detecting gas leaks, radiation sources or human survivors of…
We present a novel framework for collaboration amongst a team of robots performing Pose Graph Optimization (PGO) that addresses two important challenges for multi-robot SLAM: i) that of enabling information exchange "on-demand" via Active…
Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…
This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…
The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…
Robotic science missions in remote environments, such as deep ocean and outer space, can involve studying phenomena that cannot directly be observed using on-board sensors but must be deduced by combining measurements of correlated…