Related papers: Distributed Multi-robot Source Seeking in Unknown …
Providing Internet connectivity to a massive number of Internet-of-things (IoT) objects over the unlicensed spectrum requires: (i) identifying a very large number of narrowband channels in a wideband spectrum and (ii) aggressively reusing…
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…
We consider the optimization of distributed resource scheduling to minimize the sum of task latency and energy consumption for all the Internet of things devices (IoTDs) in a large-scale mobile edge computing (MEC) system. To address this…
We present an approach for multi-robot consistent distributed localization and semantic mapping in an unknown environment, considering scenarios with classification ambiguity, where objects' visual appearance generally varies with…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…
Nowadays, the prevalence of sensor networks has enabled tracking of the states of dynamic objects for a wide spectrum of applications from autonomous driving to environmental monitoring and urban planning. However, tracking real-world…
Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…
Robotic solutions for quick disaster response are essential to ensure minimal loss of life, especially when the search area is too dangerous or too vast for human rescuers. We model this problem as an asynchronous multi-agent active-search…
Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…
In this work, it is presented the development of a novel distributed algorithm performing robotic coverage, clustering and dispatch around an event in static-obstacle structured environments without relying on metric information.…
We present a distributed generic algorithm called DAMS dedicated to adaptive optimization in distributed environments. Given a set of metaheuristic, the goal of DAMS is to coordinate their local execution on distributed nodes in order to…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
This paper addresses task-allocation problems with uncertainty in situational awareness for distributed autonomous robots (DARs). The uncertainty propagation over a task-allocation process is done by using the Unscented transform that uses…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
The increasing number of connected devices and the complexity of Internet of Things (IoT) ecosystems are demanding new architectures for managing and securing these networked environments. Intrusion Detection Systems (IDS) are security…
We study the problem of distributed multi-robot coverage over an unknown, nonuniform sensory field. Modeling the sensory field as a realization of a Gaussian Process and using Bayesian techniques, we devise a policy which aims to balance…
Robot swarms, systems of many robots that operate in a distributed fashion, have many applications in areas such as search-and-rescue, natural disaster response, and self-assembly. Several of these applications can be abstracted to the…
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…
In the paradigm of decentralized learning, a group of agents collaborate to learn a global model using a distributed dataset without a central server; nevertheless, it is severely challenged by the heterogeneity of the data distribution…
The active search for objects of interest in an unknown environment has many robotics applications including search and rescue, detecting gas leaks or locating animal poachers. Existing algorithms often prioritize the location accuracy of…