相关论文: Technical Report: Cooperative Multi-Target Localiz…
Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
This paper presents a cooperative multi-robot multi-target tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network and, consequently, improving overall target tracking accuracy. The concept of normalized…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
We address the problem of maintaining resource availability in a networked multi-robot team performing distributed tracking of unknown number of targets in an environment of interest. Based on our model, robots are equipped with sensing and…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
Multi-robot patrolling represents a fundamental problem for many monitoring and surveillance applications and has gained significant interest in recent years. In patrolling, mobile robots repeatedly travel through an environment, capture…
This paper investigates the resilience of perception-based multi-robot coordination with wireless communication to online adversarial perception. A systematic study of this problem is essential for many safety-critical robotic applications…
Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…
In future wireless communication networks, existing active localization will gradually evolve into more sophisticated (passive) sensing functionalities. One main enabler for this process is the merging of information collected from the…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
We propose a distributed positioning algorithm to estimate the unknown positions of a number of target nodes, given distance measurements between target nodes and between target nodes and a number of reference nodes at known positions.…
Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of…
We consider a scenario where a team of robots with heterogeneous sensors must track a set of hostile targets which induce sensory failures on the robots. In particular, the likelihood of failures depends on the proximity between the targets…
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…
This paper proposes a novel highly scalable non-myopic planning algorithm for multi-robot Active Information Acquisition (AIA) tasks. AIA scenarios include target localization and tracking, active SLAM, surveillance, environmental…
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…