相关论文: Fast k-connectivity Restoration in Multi-Robot Sys…
The Freeze-Tag Problem (FTP) involves activating a set of initially asleep robots as quickly as possible, starting from a single awake robot. Once activated, a robot can assist in waking up other robots. Each active robot moves at unit…
The ability to move and hover has made rotary-wing Unmanned Aerial Vehicles (UAVs) suitable platforms to act as Flying Communications Relays (FCR), aiming at providing on-demand, temporary wireless connectivity when there is no network…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…
The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes in robots positions are used as decision variable, and linear…
An optimization problem that naturally arises in the study of swarm robotics is the Freeze-Tag Problem (FTP) of how to awaken a set of ``asleep'' robots, by having an awakened robot move to their locations. Once a robot is awake, it can…
Repair operators are often used for constraint handling in constrained combinatorial optimization. We investigate the (1+1)~EA equipped with a tailored jump-and-repair operation that can be used to probabilistically repair infeasible…
In the minimum $k$-edge-connected spanning subgraph ($k$-ECSS) problem the goal is to find the minimum weight subgraph resistant to up to $k-1$ edge failures. This is a central problem in network design, and a natural generalization of the…
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…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
We investigate the task and motion planning problem of clearing clutter from a workspace with limited ingress/egress access for multiple robots. We call the problem multi-robot clutter removal (MRCR). Targeting practical applications where…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
We address the problem of maintaining resource availability in a networked multi-robot system performing distributed target tracking. In our model, robots are equipped with sensing and computational resources enabling them to track a…
Most modern communication networks include fast rerouting mechanisms, implemented entirely in the data plane, to quickly recover connectivity after link failures. By relying on local failure information only, these data plane mechanisms…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
We study the exact and optimal repair of multiple failures in codes for distributed storage. More particularly, we provide an explicit construction of exact minimum bandwidth coordinated regenerating codes (MBCR) for n=d+t,k,d >= k,t >= 1.…
Optimal decision-making is key to efficient allocation and scheduling of repair resources (e.g., crews) to service affected nodes of large power grid networks. Traditional manual restoration methods are inadequate for modern smart grids…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts of all robots. Especially in complex…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…