相关论文: Performance of a Class of Multi-Robot Deploy and S…

Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics,…

Efficient motion planning for high-dimensional robotic systems, such as manipulators and mobile manipulators, is critical for real-time operation and reliable deployment. Although advances in planning algorithms have enhanced scalability to…

Robots and other intelligent systems navigating in complex dynamic environments should predict future actions and intentions of surrounding agents to reach their goals efficiently and avoid collisions. The dynamics of those agents strongly…

Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…

We consider the problem of multiple agents or robots searching for a target in the plane. This is motivated by Search and Rescue operations (SAR) in the high seas which in the past were often performed with several vessels, and more…

We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…

Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial…

Distributed storage systems (DSSs) provide a scalable solution for reliably storing massive amounts of data coming from various sources. Heterogeneity of these data sources often means different data classes (types) exist in a DSS, each…

Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…

We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…

Collaborating teams of robots show promise due in their ability to complete missions more efficiently and with improved robustness, attributes that are particularly useful for systems operating in marine environments. A key issue is how to…

In this study, we present a novel hybrid algorithm, combining Levy Flight (LF) and Particle Swarm Optimization (PSO) (LF-PSO), tailored for efficient multi-robot exploration in unknown environments with limited communication and no global…

Multi-objective Bayesian optimization (MOBO) has shown promising performance on various expensive multi-objective optimization problems (EMOPs). However, effectively modeling complex distributions of the Pareto optimal solutions is…

This research proposes a distributed switching control to secure multi-robot systems in the presence of cyberattacks. Two major types of cyberattack are considered: deception attack and denial of service (DoS) attack, which compromise the…

Most current results on coverage control using mobile sensors require that one partitioned cell is associated with precisely one sensor. In this paper, we consider a class of coverage control problems involving higher order Voronoi…

In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots to jointly select actions, e.g., which trajectory to follow,…

The rapid deployment of wireless sensor network (WSN) poses the challenge of finding optimal locations for the network nodes, especially so in (i) unknown and (ii) obstacle-rich environments. This paper addresses this challenge with BISON…

We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure for communication. The backbone for modern mapping techniques…

Voronoi coverage control is a particular problem of importance in the area of multi-robot systems, which considers a network of multiple autonomous robots, tasked with optimally covering a large area. This is a common task for fleets of…

In this paper, a novel deep reinforcement learning (DRL)-based method is proposed to navigate the robot team through unknown complex environments, where the geometric centroid of the robot team aims to reach the goal position while avoiding…