Related papers: WiSER-X: Wireless Signals-based Efficient Decentra…
This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…
In this paper we propose a novel algorithm, Wi-Closure, to improve computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the computational overhead of classical approaches by pruning…
Wireless signal recognition (WSR) is crucial in modern and future wireless communication networks since it aims to identify the properties of the received signal in a no-collaborative manner. However, it is challenging to accurately…
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…
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…
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…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
Robotic swarms and mobile sensor networks are used for environmental monitoring in various domains and areas of operation. Especially in otherwise inaccessible environments decentralized robotic swarms can be advantageous due to their high…
Robotic exploration under uncertain environments is challenging when optical information is not available. In this paper, we propose an autonomous solution of exploring an unknown task space based on tactile sensing alone. We first designed…
Many recent works have explored using WiFi-based sensing to improve SLAM, robot manipulation, or exploration. Moreover, widespread availability makes WiFi the most advantageous RF signal to leverage. But WiFi sensors lack an accurate,…
Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…
Development and testing of multi-robot systems employing wireless signal-based sensing requires access to suitable hardware, such as channel monitoring WiFi transceivers, which can pose significant limitations. The WiFi Sensor for Robotics…
We present the design and implementation of a decentralised, heterogeneous multi-robot system for performing intelligence, surveillance and reconnaissance (ISR) in an unknown environment. The team consists of functionally specialised robots…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…
We propose two novel algorithms for distributed and location-free boundary recognition in wireless sensor networks. Both approaches enable a node to decide autonomously whether it is a boundary node, based solely on connectivity information…
Communication bandwidth is an important consideration in multi-robot exploration, where information exchange among robots is critical. While existing methods typically aim to reduce communication throughput, they either require significant…