相关论文: Intermittent Connectivity Maintenance With Heterog…

We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…

In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…

In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…

In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…

This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…

We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these…

In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the…

We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

Imagine that a swarm of robots is given, these robots must communicate with each other, and they can do so if certain conditions are met. We say that the swarm is connected if there is at least one way to send a message between each pair of…

An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…

In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…

This paper investigates multi-agent frequencybased patrolling of intersecting, circle graphs under conditions where graph nodes have non-uniform visitation requirements and agents have limited ability to communicate. The task is modeled as…

In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…

In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…

Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However, in such environments, communication links may be…

Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…

This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…

The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…