相关论文: Incremental Map Generation by Low Cost Robots Base…

This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

The hunter and gatherer approach copes with the problem of dynamic multi-robot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring…

This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile robot compresses its local map to assist another robot in…

Autonomous trajectory generation for unmanned aerial vehicles (UAVs) in unknown environments continues to be an important research area as UAVs become more prolific. We define a trajectory generation algorithm for a vehicle in an unknown…

Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…

In the last decade, autonomous navigation for roboticshas been leveraged by deep learning and other approachesbased on machine learning. These approaches have demon-strated significant advantages in robotics performance. Butthey have the…

Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…

In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a…

In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…

Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…

In situations where humans and robots are moving in the same space whilst performing their own tasks, predictable paths taken by mobile robots can not only make the environment feel safer, but humans can also help with the navigation in the…

Autonomous robot teams navigating partially known environments face costly backtracking when ground robots encounter blocked roads that are only revealed upon physical traversal. We address this with Scout-Assisted Planning, a heterogeneous…

Autonomous exploration in unknown environments using mobile robots is the pillar of many robotic applications. Existing exploration frameworks either select the nearest geometric frontier or the nearest information-theoretic frontier.…

Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…

In this work, we present an end-to-end heterogeneous multi-robot system framework where ground robots are able to localize, plan, and navigate in a semantic map created in real time by a high-altitude quadrotor. The ground robots choose and…

Robots with the ability to actively acquire power from surroundings will be greatly beneficial for long-term autonomy and to survive in uncertain environments. In this work, we present a robot capable of drawing circuits with conductive ink…

Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…

Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…

Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…