相关论文: Multi-robot Dubins Coverage with Autonomous Surfac…
Multi-robot simultaneous localization and mapping (SLAM) is a fundamental task in multi-robot operations. Robots must have a common understanding of their location and that of their team members to complete coordinated actions. However,…
Autonomous Underwater Vehicle-Manipulator systems (AUVMS) is a new tool for ocean exploration, the AUVMS path planning problem is addressed in this paper. AUVMS is a high dimension system with a large difference in inertia distribution,…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
This paper explores a variation of the Traveling Salesperson Problem, where the agent places a circular obstacle next to each node once it visits it. Referred to as the Traveling Salesperson Problem with Circle Placement (TSP-CP), the aim…
Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
We consider a mission framework in which two unmanned vehicles (UVs), a leader and a wingmate, are required to provide cooperative coverage of an environment while being within a short communication range. This framework finds applications…
Route planning for multiple Unmanned Aerial Vehicles (UAVs) is a series of translation and rotational steps from a given start location to the destination goal location. The goal of the route planning problem is to determine the most…
This paper addresses multi-UAV uniform sweep coverage in an unknown convex environment, where a homogeneous UAV swarm must evenly visit every portion of the environment for a sampling task without access to their position and orientation.…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Mapping expansive regions is an arduous and often times incomplete when performed by a single agent. In this paper we illustrate an extension of \texttt{Full SLAM} \cite{Dellaert06ijrr} and \cite{dong}, which ensures smooth maps with…
In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…
The transport industry has recently shown significant interest in unmanned surface vehicles (USVs), specifically for port and inland waterway transport. These systems can improve operational efficiency and safety, which is especially…
Autonomous marine environmental monitoring problem traditionally encompasses an area coverage problem which can only be effectively carried out by a multi-robot system. In this paper, we focus on robotic swarms that are typically operated…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…
Once known to be used exclusively in military domain, unmanned aerial vehicles (drones) have stepped up to become a part of new logistic method in commercial sector called "last-mile delivery". In this novel approach, small unmanned aerial…