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Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Current methods rely on pre-built maps and assume static…
In multi-agent search planning for a randomly moving and camouflaging target, we examine heterogeneous searchers that differ in terms of their endurance level, travel speed, and detection ability. This leads to a convex mixed-integer…
Two mobile agents (robots) with distinct labels have to meet in an arbitrary, possibly infinite, unknown connected graph or in an unknown connected terrain in the plane. Agents are modeled as points, and the route of each of them only…
We propose to use a supervised machine learning technique to track the location of a mobile agent in real time. Hidden Markov Models are used to build artificial intelligence that estimates the unknown position of a mobile target moving in…
This paper presents a deterministic algorithm for forming a given asymmetric pattern in finite time by a set of autonomous, homogeneous, oblivious mobile robots under the CORDA model. The robots are represented as points on the 2D plane.…
We investigated how a robot moving with different velocity profiles affects a person's perception of it when working together on a task. The two profiles are the common linear profile and a profile based on the animation principles of slow…
Two the most common tasks for autonomous mobile robots is to explore the environment and locate a target. %In the last case, the objective is either to find a target in the shortest time possible or, alternatively, to find %as many targets…
A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…
We present Autonomous Rssi based RElative poSitioning and Tracking (ARREST), a new robotic sensing system for tracking and following a moving, RF-emitting object, which we refer to as the Leader, solely based on signal strength information.…
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…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
The literature in modern machine learning has only negative results for learning to communicate between competitive agents using standard RL. We introduce a modified sender-receiver game to study the spectrum of partially-competitive…
Reliable localization of people is fundamental for service and social robots that must operate in close interaction with humans. State-of-the-art human detectors often rely on RGB-D cameras or costly 3D LiDARs. However, most commercial…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
We study a recently introduced \textit{unconscious} mobile robot model, where each robot is associated with a \textit{color}, which is visible to other robots but not to itself. The robots are autonomous, anonymous, oblivious and silent,…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
This paper considers a radio-frequency (RF)-based simultaneous localization and source-seeking (SLASS) problem in multi-robot systems, where multiple robots jointly localize themselves and an RF source using distance-only measurements…