Related papers: Multi-robot searching with limited sensing range f…
We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…
Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…
Creating robots that can perform general-purpose service tasks in a human-populated environment has been a longstanding grand challenge for AI and Robotics research. One particularly valuable skill that is relevant to a wide variety of…
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…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Search problems at various scales involve a searcher, be it a molecule before reaction or a foraging animal, which performs an intermittent motion. Here we analyze a generic model based on such type of intermittent motion, in which the…
We investigate the online exploration problem (aka covering) of a short-sighted mobile robot moving in an unknown cellular environment with hexagons and triangles as types of cells. To explore a cell, the robot must enter it. Once inside,…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our…
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…
Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection for self-driving cars or close-range person detection in…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
In recent years, the demand for service robots capable of executing tasks beyond autonomous navigation has grown. In the future, service robots will be expected to perform complex tasks like 'Set table for dinner'. High-level tasks like…