相关论文: Multi-robot persistent surveillance with connectiv…

Today, the most widespread, widely applicable technology for gathering data relies on experienced scientists armed with handheld radio telemetry equipment to locate low-power radio transmitters attached to wildlife from the ground. Although…

We consider a Persistent Intelligence, Surveillance and Reconnaissance (PISR) routing problem, which includes collecting data from a set of specified task locations and delivering that data to a control station. Each task is assigned a…

We present methods for co-designing rigid robots over control and morphology (including discrete topology) over multiple objectives. Previous work has addressed problems in single-objective robot co-design or multi-objective control.…

The human-robot interaction (HRI) is a growing area of research. In HRI, complex command (action) classification is still an open problem that usually prevents the real applicability of such a technique. The literature presents some works…

Comprehensive perception of human beings is the prerequisite to ensure the safety of human-robot interaction. Currently, prevailing visual sensing approach typically involves a single static camera, resulting in a restricted and occluded…

Optimization problems with drones are widely studied in a variety of civilian tasks, mainly due to their ability to traverse rough terrains and to carry cameras and other sensors for surveillance tasks. The limited battery life of these…

Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…

In this article, we present a distributed algorithm for multi-robot persistent monitoring and target detection. In particular, we propose a novel solution that effectively integrates the Time-inverted Kuramoto model, three-dimensional…

A team of mobile robots monitors spatially distributed processes and delivers measurements to a base, where AoI is measured from sensing start, capturing both stochastic parallel sensing delays and hop-based propagation. At each non-base…

We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…

Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in such applications, promising to cover large areas at high…

Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…

Unmanned aerial vehicles (UAVs) offer dynamic trajectory control, enabling them to avoid obstacles and establish line-of-sight (LoS) wireless channels with ground nodes (GNs), unlike traditional ground-fixed base stations. This study…

Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly…

For the problem of delivering a package from a source node to a destination node in a graph using a set of drones, we study the setting where the movements of each drone are restricted to a certain subgraph of the given graph. We consider…

This study informs the design of future multi-agent pathfinding (MAPF) and multi-robot motion planning (MRMP) algorithms by guiding choices based on constraint classification for constraint-based search algorithms. We categorize constraints…

In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…

In this paper, we study a cellular-connected unmanned aerial vehicle (UAV) which aims to fly between two predetermined locations while maintaining ultra-reliable low-latency communications (URLLC) for command-and-control (C2) links with…

Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…

Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…