相关论文: Mutual Visibility by Fat Robots with Slim Omnidire…

This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…

In this paper, we consider the gathering problem of seven autonomous mobile robots on triangular grids. The gathering problem requires that, starting from any connected initial configuration where a subgraph induced by all robot nodes…

SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…

Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…

We often assume that robots which collaborate with humans should behave in ways that are transparent (e.g., legible, explainable). These transparent robots intentionally choose actions that convey their internal state to nearby humans: for…

We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…

This work addresses the gathering problem for a set of autonomous, anonymous, and homogeneous robots with limited visibility operating in a continuous circle. The robots are initially placed at distinct positions, forming a rotationally…

In this paper, we present a room occupancy sensing solution with unique properties: (i) It is based on an omnidirectional vision camera, capturing rich scene info over a wide angle, enabling to count the number of people in a room and even…

Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…

In the dispersion problem, a set of $k$ co-located mobile robots must relocate themselves in distinct nodes of an unknown network. The network is modeled as an anonymous graph $G=(V,E)$, where the nodes of the graph are not labeled. The…

We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learning algorithms that cannot classify novel observations…

We consider the problem of constructing a maximum independent set with mobile myopic luminous robots on a grid network whose size is finite but unknown to the robots. In this setting, the robots enter the grid network one-by-one from a…

We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…

A cooperative robot swarm is a collective of computationally-limited robots that share a common goal. Each robot can only interact with a small subset of its peers, without knowing how this affects the collective utility. Recent advances in…

This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…

Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…

Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…

In the gathering problem, n autonomous robots have to meet on a single point. We consider the gathering of a closed chain of point-shaped, anonymous robots on a grid. The robots only have local knowledge about a constant number of…

The design of distributed gathering and convergence algorithms for tiny robots has recently received much attention. In particular, it has been shown that convergence problems can even be solved for very weak, \emph{oblivious} robots:…

In this paper, we address the multi-robot collaborative perception problem, specifically in the context of multi-view infilling for distributed semantic segmentation. This setting entails several real-world challenges, especially those…