相关论文: Ring Exploration with Myopic Luminous Robots

This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…

This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…

Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…

This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…

Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…

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…

Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…

In this paper, we study the symmetric rendezvous search problem on the line with n > 2 robots that are unaware of their locations and the initial distances between them. In the symmetric version of this problem, the robots execute the same…

As robot autonomy improves, robots are increasingly being considered in the role of autonomous observation systems -- free-flying cameras capable of actively tracking human activity within some predefined area of interest. In this work, we…

Autonomous exploration in mobile robotics often involves a trade-off between two objectives: maximizing environmental coverage and minimizing the total path length. In the widely used information gain paradigm, exploration is guided by the…

In this study, we present a novel hybrid algorithm, combining Levy Flight (LF) and Particle Swarm Optimization (PSO) (LF-PSO), tailored for efficient multi-robot exploration in unknown environments with limited communication and no global…

We investigate the algorithmic problem of uniformly dispersing a swarm of robots in an unknown, gridlike environment. In this setting, our goal is to study the relationships between performance metrics and robot capabilities. We introduce a…

In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…

Robust autonomous navigation in environments with limited visibility remains a critical challenge in robotics. We present a novel approach that leverages Non-Line-of-Sight (NLOS) sensing using single-photon LiDAR to improve visibility and…

Aggregation is a fundamental behavior for swarm robotics that requires a system to gather together in a compact, connected cluster. In 2014, Gauci et al. proposed a surprising algorithm that reliably achieves swarm aggregation using only a…

This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. A simultaneous matching and routing problem (SMRP) is formulated to match the humans with robot guides…

We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths…

We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…