Related papers: Voronoi-based Multi-Robot Formations for 3D Source…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
Accurately localizing 3D sound sources and estimating their semantic labels -- where the sources may not be visible, but are assumed to lie on the physical surface of objects in the scene -- have many real applications, including detecting…
This paper proposes a method for estimating a surface that contains a given set of points from noisy measurements. More precisely, by assuming that the surface is described by the zero set of a function in the span of a given set of…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
We study localization and control for unstable systems under coarse, single-bit sensing. Motivated by understanding the fundamental limitations imposed by such minimal feedback, we identify sufficient conditions under which the initial…
Swarm robotics, or very large-scale robotics (VLSR), has many meaningful applications for complicated tasks. However, the complexity of motion control and energy costs stack up quickly as the number of robots increases. In addressing this…
In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
Multiple rotation averaging is an essential task for structure from motion, mapping, and robot navigation. The task is to estimate the absolute orientations of several cameras given some of their noisy relative orientation measurements. The…
Topological maps are more suitable than metric maps for robotic exploration tasks. However, real-time updating of accurate and detail-rich environmental topological maps remains a challenge. This paper presents a topological map updating…
We propose to use neural networks for simultaneous detection and localization of multiple sound sources in human-robot interaction. In contrast to conventional signal processing techniques, neural network-based sound source localization…
Most current results on coverage control using mobile sensors require that one partitioned cell is the sole responsibility of one sensor. In this paper, we consider a class of generalized Voronoi coverage control problems by using higher…
Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Zero Moment Point (ZMP) require knowledge…
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling…
In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…
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…
Grasping objects is a fundamental yet important capability of robots, and many tasks such as sorting and picking rely on this skill. The prerequisite for stable grasping is the ability to correctly identify suitable grasping positions.…
This paper introduces a method for designing spatially intelligent robot swarm behaviors to localize concealed radio emitters. We use differential evolution to generate geometric patrol routes that localize unknown signals independently of…
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several applications including search-and-rescue and precision agriculture.…