相关论文: Time-Efficient Mars Exploration of Simultaneous Co…

A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the…

Safe, reliable navigation in extreme, unfamiliar terrain is required for future robotic space exploration missions. Recent generative-AI methods learn semantically aware navigation policies from large, cross-embodiment datasets, but offer…

Current state of the art in the field of UAV activation relies solely on human operators for the design and adaptation of the drones' flying routes. Furthermore, this is being done today on an individual level (one vehicle per operators),…

Along with the fast evolution of deep neural networks, the hardware system is also developing rapidly. As a promising solution achieving high scalability and low manufacturing cost, multi-accelerator systems widely exist in data centers,…

Measurement of volcanic CO2 flux by a drone swarm poses special challenges. Drones must be able to follow gas concentration gradients while tolerating frequent drone loss. We present the LoCUS algorithm as a solution to this problem and…

One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…

The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…

In this paper, we study the problem of coverage planning by a mobile robot with a limited energy budget. The objective of the robot is to cover every point in the environment while minimizing the traveled path length. The environment is…

A central question surrounding possible human exploration of Mars is whether crewed missions can be supported by available technologies using in situ resources. Here, we show that photovoltaics-based power systems would be adequate and…

Exploration of the lunar south pole with a solar-powered rover is challenging due to the highly dynamic solar illumination conditions and the presence of permanently shadowed regions (PSRs). In turn, careful planning in space and time is…

Using drones for cellular coverage enhancement is a recent technology that has shown a great potential in various practical scenarios. However, one of the main challenges that limits the performance of drone-enabled wireless networks is the…

In unmanned space exploration, the cooperation among space robots requires advanced communication techniques. In this paper, we propose a communication optimization scheme for a specific cooperation system named the "mother-daughter…

We consider the problem of controlling a large fleet of drones to deliver packages simultaneously across broad urban areas. To conserve energy, drones hop between public transit vehicles (e.g., buses and trams). We design a comprehensive…

We consider the problem of cooperative exploration where multiple robots need to cooperatively explore an unknown region as fast as possible. Multi-agent reinforcement learning (MARL) has recently become a trending paradigm for solving this…

The advent of vehicle autonomy, connectivity and electric powertrains is expected to enable the deployment of Autonomous Mobility-on-Demand systems. Crucially, the routing and charging activities of these fleets are impacted by the design…

This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…

In this work, we present an algorithm for robot replacement to increase the operational time of a multi-robot payload transport system. Our system comprises a group of nonholonomic wheeled mobile robots traversing on a known trajectory. We…

Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…

Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…

In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a…