相关论文: Adaptive and Risk-Aware Target Tracking with Heter…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
In this paper we present a cooperative multi-robot strategy to adaptively explore and sample environments that are unfavorable for humans. We propose a methodology for a team of heterogeneous robots to collaborate on information based…
This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
We study a novel problem that tackles learning based sensor scanning in 3D and uncertain environments with heterogeneous multi-robot systems. Our motivation is two-fold: first, 3D environments are complex, the use of heterogeneous…
The problem of multi-robot target tracking asks for actively planning the joint motion of robots to track targets. In this paper, we focus on such target tracking problems in adversarial environments, where attacks or failures may…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual identification and tracking of the robots. This work…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds…
Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor's objective is to keep the…
As high-speed, agile robots become more commonplace, these robots will have the potential to better aid and collaborate with humans. However, due to the increased agility and functionality of these robots, close collaboration with humans…
We consider the problem of tracking moving targets using mobile wireless sensors (of possibly different types). This is a joint estimation and control problem in which a tracking system must take into account both target and sensor…
This paper introduces a decentralized multi-agent reinforcement learning framework enabling structurally heterogeneous teams of agents to jointly discover and acquire randomly located targets in environments characterized by partial…
We study two sensor assignment problems for multi-target tracking with the goal of improving the observability of the underlying estimator. In the restricted version of the problem, we focus on assigning unique pairs of sensors to each…
Attracted by team scale and function diversity, a heterogeneous multi-robot system (HMRS), where multiple robots with different functions and numbers are coordinated to perform tasks, has been widely used for complex and large-scale…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical…
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…