Related papers: FG-PE: Factor-graph Approach for Multi-robot Pursu…

As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…

Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…

Equilibrium learning in adversarial games is an important topic widely examined in the fields of game theory and reinforcement learning (RL). Pursuit-evasion game (PEG), as an important class of real-world games from the fields of robotics…

Quadruped robots must exhibit robust walking capabilities in practical applications. In this work, we propose a novel approach that enables quadruped robots to pass various small obstacles, or "tiny traps". Existing methods often rely on…

Studies of object detection and localization, particularly pedestrian detection have received considerable attention in recent times due to its several prospective applications such as surveillance, driving assistance, autonomous cars, etc.…

This paper presents an algorithm to deploy a team of {\it free} guards equipped with omni-directional cameras for tracking a bounded speed intruder inside a simply-connected polygonal environment. The proposed algorithm partitions the…

Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…

Federated Learning (FL) is a promising machine learning paradigm that enables participating devices to train privacy-preserved and collaborative models. FL has proven its benefits for robotic manipulation tasks. However, grasping tasks lack…

\textit{Pursuit-evasion games} have been intensively studied for several decades due to their numerous applications in artificial intelligence, robot motion planning, database theory, distributed computing, and algorithmic theory.…

Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to…

Navigating dynamic physical environments without obstructing or damaging human assets is of quintessential importance for social robots. In this work, we solve autonomous drone navigation's sub-problem of predicting out-of-domain human and…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…

This paper describes a unified method solving for inverse, forward, and hybrid dynamics problems for robotic manipulators with either open kinematic chains or closed kinematic loops based on factor graphs. Manipulator dynamics is considered…

Object tracking has been studied for decades, but most of the existing works are focused on the short-term tracking. For a long sequence, the object is often fully occluded or out of view for a long time, and existing short-term object…

This paper addresses the problem of real-time detection and tracking of a non-cooperative target in the challenging scenario with almost no a-priori information about target birth, death, dynamics and detection probability. Furthermore,…

We propose a bio-inspired, agent-based approach to describe the natural phenomenon of group chasing in both two and three dimensions. Using a set of local interaction rules we created a continuous-space and discrete-time model with time…

The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…

An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…

This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the…

Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…