Related papers: Multi-robot coordination for connectivity recovery…
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…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
The problem of multi-robot navigation of connectivity maintenance is challenging in multi-robot applications. This work investigates how to navigate a multi-robot team in unknown environments while maintaining connectivity. We propose a…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
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…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of…
Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such tasks is overly conservative, while purely reactive…
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…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
The exchange of information is key in applications that involve multiple agents, such as search and rescue, military operations, and disaster response. In this work, we propose a simple and effective trajectory planning framework that…
This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…
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…
Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconnection topologies in multi-robot systems. In scenarios in…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the…