相关论文: Cellular-enabled Collaborative Robots Planning and…
Benefiting from the fusion of communication and intelligent technologies, network-enabled robots have become important to support future machine-assisted and unmanned applications. To provide high-quality services for robots in wide areas,…
We consider the problem of cooperative exploration where multiple robots need to cooperatively explore an unknown region as fast as possible. Multi-agent reinforcement learning (MARL) has recently become a trending paradigm for solving this…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
Cooperative robots for intraocular surgery allow surgeons to perform vitreoretinal surgery with high precision and stability. Several robot structural designs have shown capabilities to perform these surgeries. This research investigates…
The importance of ground Mobile Robots (MRs) and Unmanned Aerial Vehicles (UAVs) within the research community, industry, and society is growing fast. Many of these agents are nowadays equipped with communication systems that are, in some…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Collaborative state estimation using different heterogeneous sensors is a fundamental prerequisite for robotic swarms operating in GPS-denied environments, posing a significant research challenge. In this paper, we introduce a centralized…
In this study, we present a novel hybrid algorithm, combining Levy Flight (LF) and Particle Swarm Optimization (PSO) (LF-PSO), tailored for efficient multi-robot exploration in unknown environments with limited communication and no global…
Rescue vessels are the main actors in maritime safety and rescue operations. At the same time, aerial drones bring a significant advantage into this scenario. This paper presents the research directions of the AutoSOS project, where we work…
This paper presents an approach for estimating the operational range for mobile robot exploration on a single battery discharge. Deploying robots in the wild usually requires uninterrupted energy sources to maintain the robot's mobility…
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to…
Swarms of aerial drones have recently been considered for last-mile deliveries in urban logistics or automated construction. At the same time, collaborative transportation of payloads by multiple drones is another important area of recent…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
Purpose of review: Recent advances in sensing, actuation, and computation have opened the door to multi-robot systems consisting of hundreds/thousands of robots, with promising applications to automated manufacturing, disaster relief,…
This paper investigates a collaborative rover-copter path planning and exploration with temporal logic specifications under uncertain environments. The objective of the rover is to complete a mission expressed by a syntactically co-safe…