Related papers: Concurrent-Allocation Task Execution for Multi-Rob…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
We address a variant of multi-agent path finding in continuous environment (CE-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. A new Continuous Environment…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by…
In the field of collaborative robotics, the ability to communicate spatial information like planned trajectories and shared environment information is crucial. When no global position information is available (e.g., indoor or GPS-denied…
Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence…
In this paper, we present an algorithm which lies in the domain of task allocation for a set of static autonomous radars with rotating antennas. It allows a set of radars to allocate in a fully decentralized way a set of active tracking…
In this paper, we study the multi-robot task allocation problem where a group of robots needs to be allocated to a set of tasks so that the tasks can be finished optimally. One task may need more than one robot to finish it. Therefore the…
Multi-robot navigation is the task of finding trajectories for a team of robotic agents to reach their destinations as quickly as possible without collisions. In this work, we introduce a new problem: fair-delay multi-robot navigation,…
The applicability of the swarm robots to perform foraging tasks is inspired by their compact size and cost. A considerable amount of energy is required to perform such tasks, especially if the tasks are continuous and/or repetitive.…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
Implementing obstacle avoidance in dynamic environments is a challenging problem for robots. Model predictive control (MPC) is a popular strategy for dealing with this type of problem, and recent work mainly uses control barrier function…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
We consider the problem of intelligent and efficient task allocation mechanism in large-scale mobile edge computing (MEC), which can reduce delay and energy consumption in a parallel and distributed optimization. In this paper, we study the…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
This paper explores minimum sensing navigation of robots in environments cluttered with obstacles. The general objective is to find a path plan to a goal region that requires minimal sensing effort. In [1], the information-geometric RRT*…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where…