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Continuous surveillance of a spatial region using distributed robots and sensors is a well-studied application in the area of multi-agent systems. This paper investigates a practically-relevant scenario where robotic sensors are introduced…

Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…

In recent years Landmark Complexes have been successfully employed for localization-free and metric-free autonomous exploration using a group of sensing-limited and communication-limited robots in a GPS-denied environment. To ensure rapid…

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…

The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…

Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we…

The hunter and gatherer approach copes with the problem of dynamic multi-robot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring…

Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…

Designing protocols enhancing cooperation for multi-agent systems remains a grand challenge. Cheap talk, defined as costless, non-binding communication before formal action, serves as a pivotal solution. However, existing theoretical…

In recent years, teams of robot and Unmanned Aerial Vehicles (UAVs) have been commissioned by researchers to enable accurate, online wildfire coverage and tracking. While the majority of prior work focuses on the coordination and control of…

In planning for future human space exploration, it is important to consider how to design for uplifting interpersonal communications and social dynamics among crew members. What if embodied social robots could help to improve the overall…

Exploration systems are critical for enhancing the autonomy of robots. Due to the unpredictability of the future planning space, existing methods either adopt an inefficient greedy strategy or require a lot of resources to obtain a global…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…

Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…

The robot exploration task has been widely studied with applications spanning from novel environment mapping to item delivery. For some time-critical tasks, such as rescue catastrophes, the agent is required to explore as efficiently as…

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…

Robotic science missions in remote environments, such as deep ocean and outer space, can involve studying phenomena that cannot directly be observed using on-board sensors but must be deduced by combining measurements of correlated…

A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…

Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…

This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…