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Flocking behavior of multiple agents can be widely observed in nature such as schooling fish and flocking birds. Recent literature has proposed the possibility that flocking is possible even only a small fraction of agents are informed of…
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
In this work, we present preliminary work on a novel method for Human-Swarm Interaction (HSI) that can be used to change the macroscopic behavior of a swarm of robots with decentralized sensing and control. By integrating a small yet…
The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to make the robots resilient to failures. In particular, robots…
Attracted by team scale and function diversity, a heterogeneous multi-robot system (HMRS), where multiple robots with different functions and numbers are coordinated to perform tasks, has been widely used for complex and large-scale…
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…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…
In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…
This paper addresses the challenge of assigning heterogeneous sensors (i.e., robots with varying sensing capabilities) for multi-target tracking. We classify robots into two categories: (1) sufficient sensing robots, equipped with range and…
Recent years have seen an increasing number of deployment of fleets of autonomous vehicles. As the problem scales up, in terms of autonomous vehicles number and complexity of their objectives, there is a growing need for decision-support…
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…
This paper focuses on a multi-agent zeroth-order online optimization problem in a federated learning setting for target tracking. The agents only sense their current distances to their targets and aim to maintain a minimum safe distance…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
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…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…