Related papers: Multi-Robot Distributed Optimization for Explorati…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
This work addresses the collaborative multi-robot autonomous online exploration problem, particularly focusing on distributed exploration planning for dynamically balanced exploration area partition and task allocation among a team of…
Exploration is a critical challenge in robotics, centered on understanding unknown environments. In this work, we focus on robots exploring structured indoor environments which are often predictable and composed of repeating patterns. Most…
In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
In autonomous robotics, a critical challenge lies in developing robust solutions for Active Collaborative SLAM, wherein multiple robots collaboratively explore and map an unknown environment while intelligently coordinating their movements…
Autonomous exploration for mapping unknown large scale environments is a fundamental challenge in robotics, with efficiency in time, stability against map corruption and computational resources being crucial. This paper presents a novel…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…
Exploration of unknown environments is an important challenge in the field of robotics. While a single robot can achieve this task alone, evidence suggests it could be accomplished more efficiently by groups of robots, with advantages in…
This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
We introduce a Wireless Signal based Efficient multi-Robot eXploration (WiSER-X) algorithm applicable to a decentralized team of robots exploring an unknown environment with communication bandwidth constraints. WiSER-X relies only on local…
In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…