相关论文: Multi-robot persistent surveillance with connectiv…
Inter-robot communication enables multi-robot systems to coordinate and execute complex missions efficiently. Thus, maintaining connectivity of the communication network between robots is essential for many multi-robot systems. In this…
An important real-world application of multi-robot systems is multi-robot patrolling (MRP), where robots must carry out the activity of going through an area at regular intervals. Motivations for MRP include the detection of anomalies that…
The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces significant challenges when some robots are lost or deviate from…
This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based feedback design formulations, where the nominal cost function…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
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…
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
In many cases the multi-robot systems are desired to execute simultaneously multiple behaviors with different controllers, and sequences of behaviors in real time, which we call \textit{behavior mixing}. Behavior mixing is accomplished when…
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to make the robots resilient to failures. In particular, robots…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…