Related papers: Centralization vs. decentralization in multi-robot…
Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…
In this project we evaluate a framework for synchronization of mixed machine-converter power grids. Synchronous machines are assumed to be actuated by mechanical torque injections, while the converters by DC-side current injections. As this…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
From learning assistance to companionship, social robots promise to enhance many aspects of daily life. However, social robots have not seen widespread adoption, in part because (1) they do not adapt their behavior to new users, and (2)…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
We present an approach to ensure safe and deadlock-free navigation for decentralized multi-robot systems operating in constrained environments, including doorways and intersections. Although many solutions have been proposed that ensure…
This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…
The problem of decentralized multi-robot patrol has previously been approached primarily with hand-designed strategies for minimization of 'idlenes' over the vertices of a graph-structured environment. Here we present two lightweight neural…
Cooperative localization (CL) enables accurate position estimation in multi-robot systems operating in GPS-denied environments. This paper presents a comparative study of five CL approaches: Centralized Cooperative Localization (CCL),…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
Energy requirements for heating and cooling of buildings constitute a major fraction of end use energy consumed. Therefore, it is important to provide the occupant comfort requirements in buildings in an energy efficient manner. However,…
Collaborative transport of objects via pushing by multiple robots has many applications, ranging from construction and warehouse environments to post disaster debris clean-up. Achieving collaborative transport over surfaces with different…
Cloud Robotics is helping to create a new generation of robots that leverage the nearly unlimited resources of large data centers (i.e., the cloud), overcoming the limitations imposed by on-board resources. Different processing power,…
Robot swarms can be tasked with a variety of automated sensing and inspection applications in aerial, aquatic, and surface environments. In this paper, we study a simplified two-outcome surface inspection task. We task a group of robots to…
Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…
This paper investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…