Related papers: Multi-robot Multi-source Localization in Complex F…
We are motivated by the fact that multiple representations of the environment are required to stand for the changes in appearance with time and for changes that appear in a cyclic manner. These changes are, for example, from day to night…
Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks…
In this article, we propose an approach to leak localisation in a complex water delivery grid with the use of data from physical simulation (e.g. EPANET software). This task is usually achieved by a network of multiple water pressure…
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…
Multi-robot systems performing continuous tasks face a performance trade-off when interrupted by urgent, time-critical sub-tasks. We investigate this trade-off in a scenario where a team must balance area patrolling with locating an…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
In this paper, we propose an approach to the distributed storage and fusion of data for collective perception in resource-limited robot swarms. We demonstrate our approach in a distributed semantic classification scenario. We consider a…
Accurate localization and perception are pivotal for enhancing the safety and reliability of vehicles. However, current localization methods suffer from reduced accuracy when the line-of-sight (LOS) path is obstructed, or a combination of…
Estimation of unsteady flow fields around flight vehicles may improve flow interactions and lead to enhanced vehicle performance. Although flow-field representations can be very high-dimensional, their dynamics can have low-order…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
Many interesting natural phenomena are sparsely distributed and discrete. Locating the hotspots of such sparsely distributed phenomena is often difficult because their density gradient is likely to be very noisy. We present a novel approach…
This paper presents BEASST (Behavioral Entropic Gradient-based Adaptive Source Seeking for Mobile Robots), a novel framework for robotic source seeking in complex, unknown environments. Our approach enables mobile robots to efficiently…
Stably placing an object in a multi-object scene is a fundamental challenge in robotic manipulation, as placements must be penetration-free, establish precise surface contact, and result in a force equilibrium. To assess stability, existing…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…
In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
The problem of locating an odor source in turbulent flows is central to key applications such as environmental monitoring and disaster response. We address this challenge by designing an algorithm based on Bayesian inference, which uses…
Global mobile robot localization is the problem of determining a robot's pose in an environment, using sensor data, when the starting position is unknown. A family of probabilistic algorithms known as Monte Carlo Localization (MCL) is…