Related papers: SniffySquad: Patchiness-Aware Gas Source Localizat…
This paper presents a Multi-Robot Multi-Source Term Estimation (MRMSTE) framework that enables teams of mobile robots to collaboratively sample gas concentrations and infer the parameters of an unknown number of airborne releases. The…
Searching in a denied environment is challenging for swarm robots as no assistance from GNSS, mapping, data sharing, and central processing is allowed. However, using olfactory and auditory signals to cooperate like animals could be an…
Bug localization is an important aspect of software maintenance because it can locate modules that should be changed to fix a specific bug. Our previous study showed that the accuracy of the information retrieval (IR)-based bug localization…
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…
Coordination in a large number of networked robots is a challenging task, especially when robots are constantly moving around the environment and there are malicious attacks within the network. Various approaches in the literature exist for…
Gas leakage poses a significant hazard that requires prevention. Traditionally, human inspection has been used for detection, a slow and labour-intensive process. Recent research has applied machine learning techniques to this problem, yet…
In this paper, we design an information-based multi-robot source seeking algorithm where a group of mobile sensors localizes and moves close to a single source using only local range-based measurements. In the algorithm, the mobile sensors…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
The active search for objects of interest in an unknown environment has many robotics applications including search and rescue, detecting gas leaks or locating animal poachers. Existing algorithms often prioritize the location accuracy of…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
Efficient and precise location of emission sources in an urbanized environment is very important in electronic warfare. Therefore, unmanned aerial vehicles (UAVs) are increasingly used for such tasks. In this paper, we present the…
Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some…
Two cooperating, autonomous mobile robots with arbitrary nonzero max speeds are placed at arbitrary initial positions in the plane. A remotely detonated bomb is discovered at some source location and must be moved to a safe distance away…
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…
The complete collection of sparse resources in large, unknown environments remains a challenging problem for autonomous robot swarms. Previous studies have shown that a substantial portion of total mission time is consumed during the final…
In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to…
In cluttered environments where visual sensors encounter heavy occlusion, such as in agricultural settings, tactile signals can provide crucial spatial information for the robot to locate rigid objects and maneuver around them. We introduce…
Natural odor environments present turbulent and dynamic conditions, causing chemical signals to fluctuate in space, time, and intensity. While many species have evolved highly adaptive behavioral responses to such variability, the emerging…