相关论文: Multi-Agent 3D Map Reconstruction and Change Detec…
Small free-flying spacecraft can provide vital extravehicular activity (EVA) services like inspection and repair for future orbital outposts like the Lunar Gateway. Operating adjacent to delicate space station and microgravity targets,…
Unmanned Aerial Vehicles equipped with cameras can be used to automate image capture for generating 3D models via photogrammetry. Current methods rely on a single vehicle to capture images sequentially, or use pre-planned and heuristic…
As space becomes more congested, on orbit inspection is an increasingly relevant activity whether to observe a defunct satellite for planning repairs or to de-orbit it. However, the task of on orbit inspection itself is challenging,…
We demonstrate how multiagent systems provide useful control techniques for modular self-reconfigurable (metamorphic) robots. Such robots consist of many modules that can move relative to each other, thereby changing the overall shape of…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Degraded rangelands undergo continual shifts in the appearance and distribution of plant life. The nature of these changes however is subtle: between seasons seedlings sprout up and some flourish while others perish, meanwhile, over…
Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
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…
The ability to communicate intention enables decentralized multi-agent robots to collaborate while performing physical tasks. In this work, we present spatial intention maps, a new intention representation for multi-agent vision-based deep…
Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…
We present the Robotics Intelligent Systems & Control (RISC) Lab multiagent testbed for reliable search and rescue and aerial transport in outdoor environments. The system consists of a team of three multirotor unmanned aerial vehicles…
Efficiently solving path planning problems for a large number of robots is critical to the successful operation of modern warehouses. The existing approaches adopt classical shortest path algorithms to plan in environments whose cells are…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
This paper presents a simulation testbed developed for testing and demonstration of decentralized control algorithms designed for multi-agent systems. Aimed at bridging a gap between theory and practical deployment of such algorithms, this…
Real-world deployment of new technology and capabilities can be daunting. The recent DARPA Subterranean (SubT) Challenge, for instance, aimed at the advancement of robotic platforms and autonomy capabilities in three one-year development…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…
Space free-flyers like the Astrobee robots currently operating aboard the International Space Station must operate with inherent system uncertainties. Parametric uncertainties like mass and moment of inertia are especially important to…
This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting of a fully observable state-space and a partially…