Related papers: MoRoCo: An Online Topology-Adaptive Framework for …
We present a multimodal interaction framework suitable for a human rescuer that operates in proximity with a set of co-located drones during search missions. This work is framed in the context of the SHERPA project whose goal is to develop…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
This paper aims at designing of adaptive framework for supporting collaborative work of different actors in public safety and disaster recovery missions. In such scenarios, firemen and robots interact to each other to reach a common goal;…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
Robotic fleets can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. However, it can be demanding or even impractical for an operator to directly control each robot.…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
While multi-robot systems have been broadly researched and deployed, their success is built chiefly upon the dependency on network infrastructures, whether wired or wireless. Aiming at the first steps toward de-coupling the application of…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
Hierarchical multi-robot exploration commonly decouples frontier allocation from local navigation, which can make the system brittle in dense and dynamic environments. Because the allocator lacks direct awareness of execution difficulty,…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…