Related papers: Multi-Robot System for Cooperative Exploration in …
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
This paper addresses the problem of Multi-robot Coverage Path Planning (MCPP) for unknown environments in the presence of robot failures. Unexpected robot failures can seriously degrade the performance of a robot team and in extreme cases…
This thesis studies the domain of collective robotics, and more particularly the optimization problems of multirobot systems in the context of exploration, path planning and coordination. It includes two contributions. The first one is the…
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…
In this letter, we consider a distributed submodular maximization problem for multi-robot systems when attacked by adversaries. One of the major challenges for multi-robot systems is to increase resilience against failures or attacks. This…
This survey paper focuses on quadrotor- and multirotor- based cooperative aerial manipulation. Emphasis is first given on comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application…
This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through…
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been…
Monitoring human activity in indoor environments is important for applications such as facility management, safety assessment, and space utilization analysis. While mobile robot teams offer the potential to actively improve observation…
In recent years Landmark Complexes have been successfully employed for localization-free and metric-free autonomous exploration using a group of sensing-limited and communication-limited robots in a GPS-denied environment. To ensure rapid…
Robot navigation in dynamic environments shared with humans is an important but challenging task, which suffers from performance deterioration as the crowd grows. In this paper, multi-subgoal robot navigation approach based on deep…
Subterranean environments with lots of obstacles, including narrow passages, large voids, rock falls and absence of illumination were always challenging for control, navigation, and perception of mobile robots. The limited availability and…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. In the proposed centralized multi-robot planner, a simultaneous matching and routing problem (SMRP) is…
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…