相关论文: Cellular-enabled Collaborative Robots Planning and…
This paper proposes a Social Reward Sources (SRS) design for a Human-Robot Collaborative Navigation (HRCN) task: human-robot collaborative search. It is a flexible approach capable of handling the collaborative task, human-robot interaction…
Unmanned aerial vehicles (UAV) are a promising technology for fast, large scale survey operations such as maritime search and rescue (SAR). However, providing reliable communications over long distances remains a challenge. Cellular…
Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the…
This paper addresses the problem of Multi-robot Coverage Path Planning (MCPP) for unknown environments in the presence of robot failures. Unexpected robot failures can seriously degrade the performance of a robot team and in extreme cases…
Urban searches demand rapid, defensible decisions and sustained physical effort under high cognitive and situational load. Incident commanders must plan, coordinate, and document time-critical operations, while field searchers execute…
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…
Owing to the enhanced flexibility in deployment and decreasing costs of manufacturing, the demand for unmanned aerial vehicles (UAVs) is expected to soar in the upcoming years. In this paper, we explore a UAV aided search and rescue~(SAR)…
The capability of a mobile robot to efficiently and safely perform complex missions is limited by its knowledge of the environment, namely the situation. Advanced reasoning, decision-making, and execution skills enable an intelligent agent…
In the tasks of multi-robot collaborative area search, we propose the unified approach for simultaneous mapping for sensing more targets (exploration) while searching and locating the targets (coverage). Specifically, we implement a…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
The breakthrough in AI and Machine Learning has brought a new revolution in robotics, resulting in the construction of more sophisticated robotic systems. Not only can these robotic systems benefit all domains, but also can accomplish tasks…
UAV swarms are widely used in emergency communications, area monitoring, and disaster relief. Coordinated by control centers, they are ideal for federated learning (FL) frameworks. However, current UAV-assisted FL methods primarily focus on…
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…
In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…
In this paper, we propose a novel road side unit (RSU)-assisted cooperative sensing scheme for connected autonomous vehicles (CAVs), with the objective to reduce completion time of sensing tasks. Specifically, LiDAR sensing data of both RSU…
The integration of Unmanned Aerial Vehicles (UAVs) into Open Radio Access Networks (O-RAN) enhances communication in disaster management and Search and Rescue (SAR) operations by ensuring connectivity when infrastructure fails. However, SAR…
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…
Unmanned aerial vehicle (UAV) is a promising technology for last-mile cargo delivery. However, the limited on-board battery capacity, cellular unreliability, and frequent handoffs in the airspace are the main obstacles to unleash its full…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…