相关论文: 3D Multi-Robot Patrolling with a Two-Level Coordin…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
One of the most critical applications undertaken by coalitions of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is reaching predefined targets by following the most time-efficient routes while avoiding collisions.…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
Aerial operation in turbulent environments is a challenging problem due to the chaotic behavior of the flow. This problem is made even more complex when a team of aerial robots is trying to achieve coordinated motion in turbulent wind…
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…
With the increasing demand for heterogeneous Unmanned Aerial Vehicle (UAV) swarms to perform complex tasks in urban environments, system design now faces major challenges, including efficient semantic understanding, flexible task planning,…
We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
In the field of precision manufacturing in complex constrained environments, the role of soft robots is increasingly prominent, and the realization of anti-winding control based on multi-intelligent body reinforcement learning has become a…
This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…
Multi-robot simultaneous localization and mapping (SLAM) enables a robot team to achieve coordinated tasks by relying on a common map of the environment. Constructing a map by centralized processing of the robot observations is undesirable…
The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
An unmanned surface vehicle (USV) can perform complex missions by continuously observing the state of its surroundings and taking action toward a goal. A SWARM of USVs working together can complete missions faster, and more effectively than…