相关论文: Decentralised Intelligence, Surveillance, and Reco…
Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is…
A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…
Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…
The superiority of Multi-Robot Systems (MRS) in various complex environments is unquestionable. However, in complex situations such as search and rescue, environmental monitoring, and automated production, robots are often required to work…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Deploying robotic missions can be challenging due to the complexity of controlling robots with multiple degrees of freedom, fusing diverse sensory inputs, and managing communication delays and interferences. In nuclear inspection, robots…
Search and Rescue (SAR) missions in remote environments often employ autonomous multi-robot systems that learn, plan, and execute a combination of local single-robot control actions, group primitives, and global mission-oriented…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
Rapid search and rescue is critical to maximizing survival rates following natural disasters. However, these efforts are challenged by the need to search large disaster zones, lack of reliability in the communications infrastructure, and a…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…