相关论文: Decentralized Simultaneous Multi-target Exploratio…

In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…

Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…

A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…

We present a novel reinforcement learning (RL) based task allocation and decentralized navigation algorithm for mobile robots in warehouse environments. Our approach is designed for scenarios in which multiple robots are used to perform…

Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…

This work addresses the challenge of enabling a team of quadrupedal robots to collaboratively tow a cable-connected load through cluttered and unstructured environments while avoiding obstacles. Leveraging cables allows the multi-robot…

This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…

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…

Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…

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…

Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a…

In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under…

In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of the existing works on this topic that typically assume the…

Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…

Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…

Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…

Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…

Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…

Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…