相关论文: Chauffeuring a Crashed Robot from a Disk

In the present work we address the problem of deploying a team of robots in a scenario where some locations of interest must be reached. Thus, a planning for a deployment is required, before sending the robots. The obstacles, the limited…

Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…

This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…

Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

Emergent behavior arising in a joint human-robot system cannot be fully predicted based on an understanding of the individual agents. Typically, robot behavior is governed by algorithms that optimize a reward function that should…

We consider the problem of fault-tolerant parallel search on an infinite line by $n$ robots. Starting from the origin, the robots are required to find a target at an unknown location. The robots can move with maximum speed $1$ and can…

Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…

Detecting and adapting to catastrophic failures in robotic systems requires a robot to learn its new dynamics quickly and safely to best accomplish its goals. To address this challenging problem, we propose probabilistically-safe, online…

Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…

A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…

We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…

The problem of dispersion of mobile robots on a graph asks that $n$ robots initially placed arbitrarily on the nodes of an $n$-node anonymous graph, autonomously move to reach a final configuration where exactly each node has at most one…

Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…

Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…

While much research explores improving robot capabilities, there is a deficit in researching how robots are expected to perform tasks safely, especially in high-risk problem domains. Robots must earn the trust of human operators in order to…

Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…

We consider cooperation among insects, modeled as cooperation between mobile robots on a graph. Within this setting, we consider the problem of mobile robot dispersion on graphs. The study of mobile robots on a graph is an interesting…

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…

The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…