相关论文: Decentralized Multi-Robot Line-of-Sight Connectivi…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-based motion planning policy. First, in a nominal setting, the…
In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…
The multi-robot unlabeled motion planning problem of concurrently assigning robots to goals and generating safe trajectories is central in many collaborative tasks. Recent Graph Neural Network methods offer scalable decentralized solutions…
Decentralized multi-robot LiDAR-SLAM is essential for collaborative missions but faces significant challenges in maintaining global consistency. Existing frameworks predominantly rely on local-search optimization or one-time coordinate…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…
In this paper we propose an application of adaptive synchronization of chaos to detect changes in the topology of a mobile robotic network. We assume that the network may evolve in time due to the relative motion of the mobile robots and…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position…
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…
Most mobile robots follow a modular sense-planact system architecture that can lead to poor performance or even catastrophic failure for visual inertial navigation systems due to trajectories devoid of feature matches. Planning in belief…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
Decentralized safe control plays an important role in multi-agent systems given the scalability and robustness without reliance on a central authority. However, without an explicit global coordinator, the decentralized control methods are…
We present a method to generate a robot control strategy that maximizes the probability to accomplish a task. The task is given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied at the regions of a…