相关论文: Quantitative Assessment of Robotic Swarm Coverage

The collective perception problem -- where a group of robots perceives its surroundings and comes to a consensus on an environmental state -- is a fundamental problem in swarm robotics. Past works studying collective perception use either…

Manipulation tasks often consist of subtasks, each representing a distinct skill. Mastering these skills is essential for robots, as it enhances their autonomy, efficiency, adaptability, and ability to work in their environment. Learning…

We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…

Community identification in a network is an important problem in fields such as social science, neuroscience, and genetics. Over the past decade, stochastic block models (SBMs) have emerged as a popular statistical framework for this…

This paper presents a literature survey and a comparative study of Bug Algorithms, with the goal of investigating their potential for robotic navigation. At first sight, these methods seem to provide an efficient navigation paradigm, ideal…

This work addresses the distributed estimation problem in a set membership framework. The agents of a network collect measurements which are affected by bounded errors, thus implying that the unknown parameters to be estimated belong to a…

Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…

We study robust testing and estimation of discrete distributions in the strong contamination model. We consider both the "centralized setting" and the "distributed setting with information constraints" including communication and local…

Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…

This paper introduces a safe swarm of drones capable of performing landings in crowded environments robustly by relying on Reinforcement Learning techniques combined with Safe Learning. The developed system allows us to teach the swarm of…

Framing an issue as a puzzle, problem, or mess is an illustrative approach to characterizing the issue's complexity within organizational theory and systems thinking. We use this approach to characterize the issue of designing collective…

This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…

We are motivated by quantile estimation of algae concentration in lakes and how decentralized multirobot teams can effectively tackle this problem. We find that multirobot teams improve performance in this task over single robots, and…

We demonstrate how efficient autonomous drone swarms can be in detecting and tracking occluded targets in densely forested areas, such as lost people during search and rescue missions. Exploration and optimization of local viewing…

This paper presents a novel computer vision the algorithm proposed for the on-line range and bearing detection of the robot swarms. Results demonstrated the reliability of the proposed vision system such that it can be used for the robot…

Robotic swarm systems are now becoming increasingly attractive for many challenging applications. The main task for any robot is to reach the destination while keeping a safe separation from other robots and obstacles. In many scenarios,…

Continuous surveillance of a spatial region using distributed robots and sensors is a well-studied application in the area of multi-agent systems. This paper investigates a practically-relevant scenario where robotic sensors are introduced…

In this paper, we use simulated swarms of robots to further explore the aggregation dynamics generated by these simple individual mechanisms. Our objective is to study the introduction of "informed robots", and to study how many of these…

Developing an effective evaluation metric is crucial for accurately and swiftly measuring LiDAR perception performance. One major issue is the lack of metrics that can simultaneously generate fast and accurate evaluations based on either…

A key challenge in \cacd\ is determining how to allocate limited server bandwidth across a large number of files being concurrently served so as to optimize global performance and cost objectives. In this paper, we present a comprehensive…