Related papers: Communication-Aware Iterative Map Compression for …
In this paper, an indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and robotic users. Both single-user and multiple-user…
In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
The need for efficient monitoring of spatio-temporal dynamics in large environmental applications, such as the water quality monitoring in rivers and lakes, motivates the use of robotic sensors in order to achieve sufficient spatial…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
Mobile robots, be it autonomous or teleoperated, require stable communication with the base station to exchange valuable information. Given the stochastic elements in radio signal propagation, such as shadowing and fading, and the…
Informative path planning algorithms are of paramount importance in applications like disaster management to efficiently gather information through a priori unknown environments. This is, however, a complex problem that involves finding a…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…
Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular…
Cooperative mission planning for heterogeneous teams of mobile robots presents a unique set of challenges, particularly when operating under communication constraints and limited computational resources. To address these challenges, we…
One of the main difficulties of scaling current localization systems to large environments is the on-board storage required for the maps. In this paper we propose to learn to compress the map representation such that it is optimal for the…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes in robots positions are used as decision variable, and linear…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
Recent research in robot exploration and mapping has focused on sampling environmental hotspot fields. This exploration task is formalized by Low, Dolan, and Khosla (2008) in a sequential decision-theoretic planning under uncertainty…