相关论文: IR2: Implicit Rendezvous for Robotic Exploration T…

Fleets of autonomous robots have been deployed for exploration of unknown scenes for features of interest, e.g., subterranean exploration, reconnaissance, search and rescue missions. During exploration, the robots may encounter…

This work presents a deep reinforcement learning framework for interactive navigation in a crowded place. Our proposed approach, Learning to Balance (L2B) framework enables mobile robot agents to steer safely towards their destinations by…

Communication is essential in coordinating the behaviors of multiple agents. However, existing methods primarily emphasize content, timing, and partners for information sharing, often neglecting the critical aspect of integrating shared…

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,…

Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal…

Swarm robotic search is concerned with searching targets in unknown environments (e.g., for search and rescue or hazard localization), using a large number of collaborating simple mobile robots. In such applications, decentralized swarm…

Collaborative transportation, where multiple robots collaboratively transport a payload, has garnered significant attention in recent years. While ensuring safe and high-performance inter-robot collaboration is critical for effective task…

Social interactions increasingly involve artificial agents, such as conversational or collaborative bots. Understanding trust and prosociality in these settings is fundamental to improve human-AI teamwork. Research in biology and social…

Although Deep Reinforcement Learning (DRL) has been popular in many disciplines including robotics, state-of-the-art DRL algorithms still struggle to learn long-horizon, multi-step and sparse reward tasks, such as stacking several blocks…

Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…

Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…

Solving tasks with sparse rewards is one of the most important challenges in reinforcement learning. In the single-agent setting, this challenge is addressed by introducing intrinsic rewards that motivate agents to explore unseen regions of…

Reinforcement learning (RL) algorithms aim to balance exploiting the current best strategy with exploring new options that could lead to higher rewards. Most common RL algorithms use undirected exploration, i.e., select random sequences of…

We address Multi-Robot Exploration and Relaying (MRER): a team of robots must explore an unknown environment and deliver acquired information to a fixed base station within a mission time limit. The central challenge is deciding when each…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

With the rapid evolution of wireless mobile devices, there emerges an increased need to design effective collaboration mechanisms between intelligent agents, so as to gradually approach the final collective objective through continuously…

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…

Research into several aspects of robot-enabled reconnaissance of random fields is reported. The work has two major components: the underlying theory of information acquisition in the exploration of unknown fields and the results of…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

Optimizing and refining action execution through exploration and interaction is a promising way for robotic manipulation. However, practical approaches to interaction-driven robotic learning are still underexplored, particularly for…