相关论文: A Decentralized Interactive Architecture for Aeria…
In this paper, we study a cooperative aerial-ground robotic team and its application to the task of automated construction. We propose a solution for planning and coordinating the mission of constructing a wall with a predefined structure…
Autonomous exploration of unknown environments has been widely applied in inspection, surveillance, and search and rescue. In exploration task, the basic requirement for robots is to detect the unknown space as fast as possible. In this…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…
We present a fully integrated autonomous multi- robot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple relevant problems in search and rescue (SAR) robotics such as…
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…
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
Monitoring human activity in indoor environments is important for applications such as facility management, safety assessment, and space utilization analysis. While mobile robot teams offer the potential to actively improve observation…
We present a framework for a ground-aerial robotic team to explore large, unstructured, and unknown environments. In such exploration problems, the effectiveness of existing exploration-boosting heuristics often scales poorly with the…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…
Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive…
Ground robots always get collision in that only if they get close to the obstacles, can they sense the danger and take actions, which is usually too late to avoid the crash, causing severe damage to the robots. To address this issue, we…
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…
Persistent monitoring using robot teams is of interest in fields such as security, environmental monitoring, and disaster recovery. Performing such monitoring in a fully on-line decentralised fashion has significant potential advantages for…