Related papers: Nav-SCOPE: Swarm Robot Cooperative Perception and …
We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a $\textit{blind}$ robot, and…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
Cooperative perception, offering a wider field of view than standalone perception, is becoming increasingly crucial in autonomous driving. This perception is enabled through vehicle-to-vehicle (V2V) communication, allowing connected…
We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The…
Cooperative perception plays a vital role in extending a vehicle's sensing range beyond its line-of-sight. However, exchanging raw sensory data under limited communication resources is infeasible. Towards enabling an efficient cooperative…
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…
Robot navigation in dynamic environments shared with humans is an important but challenging task, which suffers from performance deterioration as the crowd grows. In this paper, multi-subgoal robot navigation approach based on deep…
Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…
Cooperative perception of connected vehicles comes to the rescue when the field of view restricts stand-alone intelligence. While raw-level cooperative perception preserves most information to guarantee accuracy, it is demanding in…
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…