Related papers: Cooperative Transportation Without Prior Object Kn…
Collaborative perception in multi-robot fleets is a way to incorporate the power of unity in robotic fleets. Collaborative perception refers to the collective ability of multiple entities or agents to share and integrate their sensory…
A self-driving vehicle (SDV) must be able to perceive its surroundings and predict the future behavior of other traffic participants. Existing works either perform object detection followed by trajectory forecasting of the detected objects,…
With the advent of Unmanned Aerial Vehicles (UAV) and Micro Aerial Vehicles (MAV) in commercial sectors, their application for transporting and manipulating payloads has attracted many research work. A swarm of agents, cooperatively working…
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…
Constrained multi-agent reinforcement learning offers the framework to design scalable and almost surely feasible solutions for teams of agents operating in dynamic environments to carry out conflicting tasks. We address the challenges of…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
We address the problem of distributed cooperative localization in wireless networks, i.e. nodes without prior position knowledge (agents) wish to determine their own positions. In non-cooperative approaches, positioning is only based on…
This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own…
Coverage control algorithms have traditionally focused on static target densities, where agents are deployed to optimally cover a fixed spatial distribution. However, many applications involve time-varying densities, including environmental…
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
A consistent spatial-temporal coordination across multiple agents is fundamental for collaborative perception, which seeks to improve perception abilities through information exchange among agents. To achieve this spatial-temporal…
Sharing and joint processing of camera feeds and sensor measurements, known as Cooperative Perception (CP), has emerged as a new technique to achieve higher perception qualities. CP can enhance the safety of Autonomous Vehicles (AVs) where…
Mobile Crowdsensing has become main stream paradigm for researchers to collect behavioral data from citizens in large scales. This valuable data can be leveraged to create centralized repositories that can be used to train advanced…
The rise of Internet of Vehicles (IoV) technologies is transforming traffic management from isolated control to a collective, multi-vehicle process. At the heart of this shift is multi-vehicle dynamic navigation, which requires…
Coordination in multi-agent systems is challenging for agile robots such as unmanned aerial vehicles (UAVs), where relative agent positions frequently change due to unconstrained movement. The problem is exacerbated through the individual…
This paper introduces a decentralized multi-agent reinforcement learning framework enabling structurally heterogeneous teams of agents to jointly discover and acquire randomly located targets in environments characterized by partial…
Self-navigation in non-coordinating crowded environments is formidably challenging within multi-agent systems consisting of non-holonomic robots operating through local sensing. Our primary objective is the development of a novel, rapid,…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…