Related papers: Rolling Horizon Coverage Control with Collaborativ…
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…
This paper proposes a distributed Multi-Agent Reinforcement Learning (MARL) algorithm for a team of Unmanned Aerial Vehicles (UAVs). The proposed MARL algorithm allows UAVs to learn cooperatively to provide a full coverage of an unknown…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…
This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and…
Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…
This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring…
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
This paper is concerned with the deployment of multiple mobile robots in order to autonomously cover a region Q. The region to be covered is described using a density function which may not be apriori known. In this paper, we pose the…
This paper addresses the joint optimization of trajectories and bandwidth allocation for multiple Unmanned Aerial Vehicles (UAVs) to enhance energy efficiency in the cooperative data collection problem. We focus on an important yet…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
This paper systematically studies the cooperative area coverage and target tracking problem of multiple-unmanned aerial vehicles (multi-UAVs). The problem is solved by decomposing into three sub-problems: information fusion, task…
Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…
This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…
Active Multi-Object Tracking (AMOT) is a task where cameras are controlled by a centralized system to adjust their poses automatically and collaboratively so as to maximize the coverage of targets in their shared visual field. In AMOT, each…
The goal of this paper is to obtain online abstractions for coupled multi-agent systems in a decentralized manner. A discrete model which captures the motion capabilities of each agent is derived over a bounded time-horizon, by discretizing…
This letter describes a method for autonomous aerial cinematography with distributed lighting by a team of unmanned aerial vehicles (UAVs). Although camera-carrying multi-rotor helicopters have become commonplace in cinematography, their…
This paper investigates coverage control for visual sensor networks based on gradient descent techniques on matrix manifolds. We consider the scenario that networked vision sensors with controllable orientations are distributed over 3-D…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…