Related papers: Multirobot rendezvous with visibility sensors in n…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…
We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…
Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of…
This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…
We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
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…
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…
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…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. In the proposed centralized multi-robot planner, a simultaneous matching and routing problem (SMRP) is…
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…
An important real-world application of multi-robot systems is multi-robot patrolling (MRP), where robots must carry out the activity of going through an area at regular intervals. Motivations for MRP include the detection of anomalies that…