Related papers: Multi-Robot System for Cooperative Exploration in …
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
Collaborative multiple robots for unknown environment exploration have become mainstream due to their remarkable performance and efficiency. However, most existing methods assume perfect robots' communication during exploration, which is…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight…
Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute…
Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the…
Human-guided robotic exploration is a useful approach to gathering information at remote locations, especially those that might be too risky, inhospitable, or inaccessible for humans. Maintaining common ground between the remotely-located…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
In the past decade, although single-robot perception has made significant advancements, the exploration of multi-robot collaborative perception remains largely unexplored. This involves fusing compressed, intermittent, limited,…
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.…
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…
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…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…