Related papers: Rolling Horizon Coverage Control with Collaborativ…
Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…
This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…
Many robotic applications, such as sanding, polishing, wiping and sensor scanning, require a manipulator to dexterously cover a surface using its end-effector. In this paper, we provide an efficient and effective coverage path planning…
The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…
In the domain of intelligent transportation systems (ITS), collaborative perception has emerged as a promising approach to overcome the limitations of individual perception by enabling multiple agents to exchange information, thus enhancing…
This paper proposes a distributed coverage control strategy for quadcopters equipped with downward-facing cameras that prevents the appearance of unmonitored areas in between the quadcopters' fields of view (FOVs). We derive a necessary and…
A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…
This article presents a novel coordination and task-planning framework to enable the simultaneous conflict-free collaboration of multiple unmanned aerial vehicles (UAVs) for aerial 3D printing. The proposed framework formulates an…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation problems. However, the absence of explicit depth information…
This article addresses the problem of Cooperative Coverage Path Planning (C-CPP) for the inspection of complex infrastructures (offline 3D reconstruction) by utilizing multiple Unmanned Autonomous Vehicles (UAVs). The proposed scheme, based…
We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon. Motivated by the limited approaches…
The inherent non-convexity of poriferous surfaces typically entraps agents in local minima and complicates workload distribution. To resolve this, we propose a distributed diffeomorphic coverage control framework for the multi-agent system…
In this paper, a novel and innovative methodology for feasible motion planning in the multi-agent system is developed. On the basis of velocity obstacles characteristics, the chance constraints are formulated in the receding horizon control…
Search-and-rescue (SaR) in unknown environments requires precise, optimal, and fast decisions. Robots are promising candidates for autonomously performing SaR tasks in unknown environments. While humans use their heuristics to effectively…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
In this work, a novel distributed search-planning framework is proposed, where a dynamically varying team of autonomous agents cooperate in order to search multiple objects of interest in three-dimension (3-D). It is assumed that the agents…
In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous environments, and environmental monitoring. Coordination, in…
Collaborative autonomous multi-agent systems covering a specified area have many potential applications, such as UAV search and rescue, forest fire fighting, and real-time high-resolution monitoring. Traditional approaches for such coverage…