相关论文: Connectivity Maintenance: Global and Optimized app…

This paper presents an alternative approach to the study of distance rigidity in networks of mobile agents, based on a subframework scheme. The advantage of the proposed strategy lies in expressing framework rigidity, which is inherently…

An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…

With the rapid advancement of intelligent technologies, collaborative frameworks integrating large and small models have emerged as a promising approach for enhancing industrial maintenance. However, several challenges persist, including…

This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…

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…

An active approach to fault tolerance is essential for robot swarms to achieve long-term autonomy. Previous efforts have focused on responding to spontaneous electro-mechanical faults and failures. However, many faults occur gradually over…

The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…

A prototype of modular networked robot for autonomous monitoring works with full control over web through wireless connection has been developed. The robot is equipped with a particular set of built-in analyzing tools and appropriate…

Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remains a challenging task. Recently, collision detection using…

In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…

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…

Many complex systems experience damage accumulation which leads to aging, manifest as an increasing probability of system collapse with time. This naturally raises the question of how to maximize health and longevity in an aging system at…

Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…

Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…

Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most…

In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed…

In this article we address the multi-robot task allocation problem, where robots must cooperatively assign themselves to accomplish a set of tasks. We consider the colony maintenance problem as an example, where a team of robots are tasked…

Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling…

Highway merges present difficulties for human drivers and automated vehicles due to incomplete situational awareness and a need for a structured (precedence, order) environment, respectively. In this paper, an unstructured merge algorithm…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…