Related papers: FG-PE: Factor-graph Approach for Multi-robot Pursu…
Team Coordination on Graphs with Risky Edges (TCGRE) is a recently emerged problem, in which a robot team collectively reduces graph traversal cost through support from one robot to another when the latter traverses a risky edge. Resembling…
In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…
The fully dynamic transitive closure problem asks to maintain reachability information in a directed graph between arbitrary pairs of vertices, while the graph undergoes a sequence of edge insertions and deletions. The problem has been…
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…
We present object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole system, it is challenging to clearly describe all the possible…
Front-following is more technically difficult to implement than the other two human following technologies, but front-following technology is more practical and can be applied in more areas to solve more practical problems. Front-following…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Modern robotics often involves multiple embodied agents operating within a shared environment. Path planning in these cases is considerably more challenging than in single-agent scenarios. Although standard Sampling-based Algorithms (SBAs)…
Factor graphs are a ubiquitous tool for multi-source inference in robotics and multi-sensor networks. They allow for heterogeneous measurements from many sources to be concurrently represented as factors in the state posterior distribution,…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
Consider a vertex-weighted graph $G$ with a source $s$ and a target $t$. Tracking Paths requires finding a minimum weight set of vertices (trackers) such that the sequence of trackers in each path from $s$ to $t$ is unique. In this work, we…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
This paper studies a novel encirclement guaranteed cooperative pursuit problem involving $N$ pursuers and a single evader in an unbounded two-dimensional game domain. Throughout the game, the pursuers are required to maintain encirclement…
Autonomous grasping of novel objects that are previously unseen to a robot is an ongoing challenge in robotic manipulation. In the last decades, many approaches have been presented to address this problem for specific robot hands. The…
We study the labeled multi-robot path planning problem in continuous 2D and 3D domains in the absence of obstacles where robots must not collide with each other. For an arbitrary number of robots in arbitrary initial and goal arrangements,…
In this paper, we introduce a variation of a state-of-the-art real-time tracker (CFNet), which adds to the original algorithm robustness to target loss without a significant computational overhead. The new method is based on the assumption…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
We propose a method for tracking an unknown number of targets based on measurements provided by multiple sensors. Our method achieves low computational complexity and excellent scalability by running belief propagation on a suitably devised…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…