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Multi-human multi-robot teams have great potential for complex and large-scale tasks through the collaboration of humans and robots with diverse capabilities and expertise. To efficiently operate such highly heterogeneous teams and maximize…
Convex optimization is crucial in controlling legged robots, where stability and optimal control are vital. Many control problems can be formulated as convex optimization problems, with a convex cost function and constraints capturing…
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 propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
Many organizations have access to abundant data but lack the computational power to process the data. While they can outsource the computational task to other facilities, there are various constraints on the amount of data that can be…
Local search algorithms applied to optimization problems often suffer from getting trapped in a local optimum. The common solution for this deficiency is to restart the algorithm when no progress is observed. Alternatively, one can start…
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
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…
Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…
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…
Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance.…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
In this paper, a novel framework is presented that achieves a combined solution based on Multi-Robot Task Allocation (MRTA) and collision avoidance with respect to homogeneous measurement tasks taking place in industrial environments. The…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Teams of mobile [aerial, ground, or aquatic] robots have applications in resource delivery, patrolling, information-gathering, agriculture, forest fire fighting, chemical plume source localization and mapping, and search-and-rescue. Robot…
This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…