相关论文: MUI-TARE: Multi-Agent Cooperative Exploration with…

Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…

We tackle the problem of cooperative visual exploration where multiple agents need to jointly explore unseen regions as fast as possible based on visual signals. Classical planning-based methods often suffer from expensive computation…

Creatures in the real world constantly encounter new and diverse challenges they have never seen before. They will often need to adapt to some of these tasks and solve them in order to survive. This almost endless world of novel challenges…

Recent advances in robotics have paved the way for robots to replace humans in perilous situations, such as searching for victims in burning buildings, in earthquake-damaged structures, in uncharted caves, traversing minefields or…

This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…

Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…

Multi-agent reinforcement learning (MARL) algorithms often struggle to find strategies close to Pareto optimal Nash Equilibrium, owing largely to the lack of efficient exploration. The problem is exacerbated in sparse-reward settings,…

Temporally extended actions improve the ability to explore and plan in single-agent settings. In multi-agent settings, the exponential growth of the joint state space with the number of agents makes coordinated behaviours even more…

In this paper, we consider the problem of multi-agent navigation in partially observable grid environments. This problem is challenging for centralized planning approaches as they, typically, rely on the full knowledge of the environment.…

Accurate reconstruction of the environment is a central goal of Simultaneous Localization and Mapping (SLAM) systems. However, the agent's trajectory can significantly affect estimation accuracy. This paper presents a new method to model…

Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However,…

We investigate multi-agent navigation tasks, where multiple agents need to reach initially unassigned goals in a limited time. Classical planning-based methods suffer from expensive computation overhead at each step and offer limited…

Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…

Multi-agent robotic exploration stands to play an important role in space exploration as the next generation of robotic systems ventures to far-flung environments. A key challenge in this new paradigm will be to effectively share and…

Effective exploration is crucial to discovering optimal strategies for multi-agent reinforcement learning (MARL) in complex coordination tasks. Existing methods mainly utilize intrinsic rewards to enable committed exploration or use…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…

Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to goal positions. Coordinating multiple agents in a shared…

This paper proposes an exploration technique for multi-agent reinforcement learning (MARL) with graph-based communication among agents. We assume the individual rewards received by the agents are independent of the actions by the other…

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…