相关论文: Time-Efficient Mars Exploration of Simultaneous Co…
We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synchronous, and on-demand. The recently proposed horizon-based…
Multi-agent reinforcement learning (MARL) has shown wide applicability in collaborative systems such as autonomous driving and smart cities for its ability of learning through interaction. With the recent development of drone networks,…
This paper proposes a comprehensive strategy for complex multi-target-multi-drone encirclement in an obstacle-rich and GPS-denied environment, motivated by practical scenarios such as pursuing vehicles or humans in urban canyons. The drones…
Efficient data transmission and reasonable task allocation are important to improve multi-robot exploration efficiency. However, most communication data types typically contain redundant information and thus require massive communication…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…
This paper considers energy-aware route planning for a battery-constrained robot operating in environments with multiple recharging depots. The robot has a battery discharge time $D$, and it should visit the recharging depots at most every…
This paper presents a novel algorithm, called $\epsilon^*$+, for online coverage path planning of unknown environments using energy-constrained autonomous vehicles. Due to limited battery size, the energy-constrained vehicles have limited…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance.…
This paper proposes an energy management framework for cellular heterogeneous networks (HetNets) supported by dynamic solar powered drones. A HetNet composed of a macrocell base station (BS), micro cell BSs, and drone small cell BSs are…
In this paper, we propose a cost-effective strategy for heterogeneous UAV swarm systems for cooperative aerial inspection. Unlike previous swarm inspection works, the proposed method does not rely on precise prior knowledge of the…
Recently there has been a growing interest in industry and academia, regarding the use of wireless chargers to prolong the operational longevity of unmanned aerial vehicles (commonly knowns as drones). In this paper we consider a…
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute…
We propose a simple yet efficient scheme for a set of energy-harvesting sensors to establish secure communication with a common destination (a master node). An eavesdropper attempts to decode the data sent from the sensors to their common…
Cellular-enabled collaborative robots are becoming paramount in Search-and-Rescue (SAR) and emergency response. Crucially dependent on resilient mobile network connectivity, they serve as invaluable assets for tasks like rapid victim…
Ensuring safety for spacecraft operations has become a paramount concern due to the proliferation of space debris and the saturation of valuable orbital regimes. In this regard, the Collision Avoidance Manoeuvre (CAM) has emerged as a…
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Helicopter (MSH), an advanced concept capable of performing…
The Drone Routing Problem with Energy replenishment (DRP-E) belongs to a general class of routing problems with intermediate stops and synchronization constraints. In DRP-E, the drone has to visit a set of nodes and routinely requires…