Related papers: Knowledge in multi-robot systems: an interplay of …
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
Systems such as sensor networks and teams of autonomous robots consist of multiple autonomous entities that interact with each other in a distributed, asynchronous manner. These entities need to keep track of the state of the system as it…
Achieving knowledge sharing within an artificial swarm system could lead to significant development in autonomous multiagent and robotic systems research and realize collective intelligence. However, this is difficult to achieve since there…
This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…
These lecture notes cover basic automata-theoretic concepts and logical formalisms for the modeling and verification of concurrent and distributed systems. Many of these concepts naturally extend the classical automata and logics over…
This paper is a survey of extensions to finite automata theory to model real-time systems as well as systems exhibiting mixed discrete-continuous behavior. Real-time systems maintain a continuous and timely interaction with the environment,…
We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…
This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
In this paper, we generalize epistemic logic so that it can help reason about ways of combining common knowledge and distributed knowledge such as "common distributed knowledge", "distributed common knowledge", "distributed common…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…