Related papers: Distributed Multi-robot Source Seeking in Unknown …
Effective communication is crucial for deploying robots in mission-specific tasks, but inadequate or unreliable communication can greatly reduce mission efficacy, for example in search and rescue missions where communication-denied…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
This paper presents a distributed resource selection mechanism for diverse cloud-edge environments, enabling dynamic and context-aware allocation of resources to meet the demands of complex distributed applications. By distributing the…
Due to the pervasive diffusion of personal mobile and IoT devices, many ``smart environments'' (e.g., smart cities and smart factories) will be, among others, generators of huge amounts of data. Currently, this is typically achieved through…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
Speech separation with several speakers is a challenging task because of the non-stationarity of the speech and the strong signal similarity between interferent sources. Current state-of-the-art solutions can separate well the different…
Multi-robot simultaneous localization and mapping (SLAM) enables a robot team to achieve coordinated tasks by relying on a common map of the environment. Constructing a map by centralized processing of the robot observations is undesirable…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
We consider the problem of Active Source Identification (ASI) in steady-state Advection-Diffusion (AD) transport systems. Unlike existing bio-inspired heuristic methods, we propose a model-based method that employs the AD-PDE to capture the…
Machine learning models have achieved, and in some cases surpassed, human-level performance in various tasks, mainly through centralized training of static models and the use of large models stored in centralized clouds for inference.…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…
Decentralized swarm robotic solutions to searching for targets that emit a spatially varying signal promise task parallelism, time efficiency, and fault tolerance. It is, however, challenging for swarm algorithms to offer scalability and…
Heterogeneous Bayesian decentralized data fusion captures the set of problems in which two robots must combine two probability density functions over non-equal, but overlapping sets of random variables. In the context of multi-robot dynamic…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
The use of mobile robotics in radioactive source seeking has become an important part of modern radiation-safety practices, supporting timely mitigation of contamination risks and helping protect public health. However, measuring radiation…
This paper presents a multi-robot kinodynamic motion planner that enables a team of robots with different dynamics, actuation limits, and shapes to reach their goals in challenging environments. We solve this problem by combining…
Modern power systems integrate renewable distributed energy resources (DERs) as an environment-friendly enhancement to meet the ever-increasing demands. However, the inherent unreliability of renewable energy renders developing DER…