相关论文: Multi-Robot Patrolling with Sensing Idleness and D…

This paper studies the problem of multi-robot pursuit of how to coordinate a group of defending robots to capture a faster attacker before it enters a protected area. Such operation for defending robots is challenging due to the unknown…

This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…

Multi-object tracking (MOT) is the task of estimating the state trajectories of an unknown and time-varying number of objects over a certain time window. Several algorithms have been proposed to tackle the multi-object smoothing task, where…

Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…

Suppose an agent asserts that it will move through an environment in some way. When the agent executes its motion, how does one verify the claim? The problem arises in a range of contexts including in validating safety claims about robot…

We revisit the linear search problem where a robot, initially placed at the origin on an infinite line, tries to locate a stationary target placed at an unknown position on the line. Unlike previous studies, in which the robot travels along…

Human mobility patterns are complex and distinct from one person to another. Nevertheless, motivated by tremendous potential benefits of modeling such patterns in enabling new mobile services and technologies, researchers have attempted to…

Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…

Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…

We consider multi-robot applications, where a team of robots can ask for the intervention of a human operator to handle difficult situations. As the number of requests grows, team members will have to wait for the operator attention, hence…

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…

A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…

We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several applications including search-and-rescue and precision agriculture.…

In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…

In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…

Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…

We investigate the problem of monitoring multiple targets using a single mobile sensor, with the goal of minimizing the maximum estimation error among all the targets over long time horizons. The sensor can move in a network-constrained…

The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…

Due to better video quality and higher frame rate, the performance of multiple object tracking issues has been greatly improved in recent years. However, in real application scenarios, camera motion and noisy per frame detection results…

Multiple people tracking is a key problem for many applications such as surveillance, animation or car navigation, and a key input for tasks such as activity recognition. In crowded environments occlusions and false detections are common,…