相关论文: Stigmergy-based, Dual-Layer Coverage of Unknown In…
This paper addresses the movement and placement of mobile agents to establish a communication network in initially unknown environments. We cast the problem in a computational-geometric framework by relating the coverage problem and…
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…
We investigate the exploration problem of a short-sighted mobile robot moving in an unknown cellular room. To explore a cell, the robot must enter it. Once inside, the robot knows which of the 4 adjacent cells exist and which are boundary…
In this work we consider a generalization of the well-known multivehicle routing problem: given a network, a set of agents occupying a subset of its nodes, and a set of tasks, we seek a minimum cost sequence of movements subject to the…
Swarm systems constitute a challenging problem for reinforcement learning (RL) as the algorithm needs to learn decentralized control policies that can cope with limited local sensing and communication abilities of the agents. While it is…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…
UAV swarms have triggered wide concern due to their potential application values in recent years. While there are studies proposed in terms of the architecture design for UAV swarms, two main challenges still exist: (1) Scalability,…
Maintaining connectivity among a group of autonomous agents exploring an area is very important, as it promotes cooperation between the agents and also helps message exchanges which are very critical for their mission. Creating an…
Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…
We present an autonomous exploration system for efficient coverage of unknown environments. First, a rapid environment preprocessing method is introduced to provide environmental information for subsequent exploration planning. Then, the…
In the existing cellular networks, it remains a challenging problem to communicate with and control an unmanned aerial vehicle (UAV) swarm with both high reliability and low latency. Due to the UAV swarm's high working altitude and strong…
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…
Using multiple mobile robots in search missions offers a lot of benefits, but one needs a suitable and competent motion control algorithm which is able to consider sensors characteristics, the uncertainty of target detection and complexity…
Despite significant research, robotic swarms have yet to be useful in solving real-world problems, largely due to the difficulty of creating and controlling swarming behaviors in multi-agent systems. Traditional top-down approaches in which…
Uncrewed aerial vehicles (UAVs) play a pivotal role in ensuring seamless connectivity for Internet of Things (IoT) devices, particularly in scenarios where conventional terrestrial networks are constrained or temporarily unavailable.…
Future applications in environmental monitoring, delivery of services and transportation of goods motivate the study of deployment and partitioning tasks for groups of autonomous mobile agents. These tasks are achieved by recent coverage…
We present a biologically inspired design for swarm foraging based on ant's pheromone deployment, where the swarm is assumed to have very restricted capabilities. The robots do not require global or relative position measurements and the…
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…
Swarm robotic search is concerned with searching targets in unknown environments (e.g., for search and rescue or hazard localization), using a large number of collaborating simple mobile robots. In such applications, decentralized swarm…
Swarms of coupled mobile agents subject to inter-agent wireless communication delays are known to exhibit multiple dynamic patterns in space that depend on the strength of the interactions and the magnitude of the communication delays. We…