相关论文: Cooperative Robot Localization Using Event-trigger…

We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…

We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…

Despite an extensive literature has been devoted to mine and model mobility features, forecasting where, when and whom people will encounter/colocate still deserve further research efforts. Forecasting people's encounter and colocation…

This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…

Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…

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…

This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…

This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…

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…

A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…

This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…

Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…

Robot allocation plays an essential role in facilitating robotic service provision across various domains. Yet the increasing number of users and the uncertainties regarding the users' true service requirements have posed challenges for the…

Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most…

In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…

In this paper, we study the distributed adaptive estimation problem of continuous-time stochastic dynamic systems over sensor networks where each agent can only communicate with its local neighbors. A distributed least squares (LS)…

Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…

In the past decade, although single-robot perception has made significant advancements, the exploration of multi-robot collaborative perception remains largely unexplored. This involves fusing compressed, intermittent, limited,…

We present CoMet, a novel approach for computing a group's cohesion and using that to improve a robot's navigation in crowded scenes. Our approach uses a novel cohesion-metric that builds on prior work in social psychology. We compute this…

For high-performance autonomous manipulation of a payload by a mobile manipulator team, or for collaborative manipulation with the human, robots should be able to discover where other robots are attached to the payload, as well as the…