Related papers: A Visitation Grid for Complete Coverage Foraging i…
The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Swarm robotics is envisioned to automate a large number of dirty, dangerous, and dull tasks. Robots have limited energy, computation capability, and communication resources. Therefore, current swarm robotics have a small number of robots,…
Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…
*The following abbreviates the abstract. Please refer to the thesis for the full abstract.* After a disaster, locating and extracting victims quickly is critical because mortality rises rapidly after the first two days. To assist search and…
Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…
Task allocation is an important problem for robot swarms to solve, allowing agents to reduce task completion time by performing tasks in a distributed fashion. Existing task allocation algorithms often assume prior knowledge of task…
We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synchronous, and on-demand. The recently proposed horizon-based…
This paper proposes a path planning strategy for an Autonomous Ground Vehicle (AGV) navigating in a partially known environment. Global path planning is performed by first using a spatial database of the region to be traversed containing…
In this study, we investigate the emergence of naming conventions within a swarm of robots that collectively forage, that is, collect resources from multiple sources in the environment. While foraging, the swarm explores the environment and…
Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm, an ultra-lightweight and scalable planner designed…
We propose a novel framework for real-time communication-aware coverage control in networked robot swarms. Our framework unifies the robot dynamics with network-level message-routing to reach consensus on swarm formations in the presence of…
We present a number of powerful local mechanisms for maintaining a dynamic swarm of robots with limited capabilities and information, in the presence of external forces and permanent node failures. We propose a set of local continuous…
We consider a multi-robot setting, where we have a fleet of multi-capacity autonomous robots that must service spatially distributed pickup-and-delivery requests with fixed maximum wait times. Requests can be either scheduled ahead of time…