相关论文: Voronoi-based Multi-Robot Formations for 3D Source…

Signal source seeking using autonomous vehicles is a complex problem. The complexity increases manifold when signal intensities captured by physical sensors onboard are noisy and unreliable. Added to the fact that signal strength decays…

In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…

Achieving accurate and robust global situational awareness of a complex time-evolving field from a limited number of sensors has been a longstanding challenge. This reconstruction problem is especially difficult when sensors are sparsely…

Mobile robots in real-life settings would benefit from being able to localize and track sound sources. Such a capability can help localizing a person or an interesting event in the environment, and also provides enhanced processing for…

This paper considers a class of deploy and search strategies for multi-robot systems and evaluates their performance. The application framework used is a system of autonomous mobile robots equipped with required sensors and communication…

This paper presents a sound source localization strategy that relies on a microphone array embedded in an unmanned ground vehicle and an asynchronous close-talking microphone near the operator. A signal coarse alignment strategy is combined…

We present the design and experimental validation of source seeking control algorithms for a unicycle mobile robot that is equipped with novel 3D-printed flexible graphene-based piezoresistive airflow sensors. Based solely on a local…

This paper focuses on securing a triangular shape (up to translation) for a team of three mobile robots that uses heterogeneous sensing mechanism. Based on the available local information, each robot employs the popular gradient-based…

This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…

Generating grasp poses is a crucial component for any robot object manipulation task. In this work, we formulate the problem of grasp generation as sampling a set of grasps using a variational autoencoder and assess and refine the sampled…

In this paper, we propose to compute Voronoi diagrams over mesh surfaces driven by an arbitrary geodesic distance solver, assuming that the input is a triangle mesh as well as a collection of sites $P=\{p_i\}_{i=1}^m$ on the surface. We…

This technical report is an extended version of the paper 'Cooperative Multi-Target Localization With Noisy Sensors' accepted to the 2013 IEEE International Conference on Robotics and Automation (ICRA). This paper addresses the task of…

This work presents a novel technique that performs both orientation and distance localization of a sound source in a three-dimensional (3D) space using only the interaural time difference (ITD) cue, generated by a newly-developed…

Hierarchical multi-robot exploration commonly decouples frontier allocation from local navigation, which can make the system brittle in dense and dynamic environments. Because the allocator lacks direct awareness of execution difficulty,…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…

Source localization in a complex flow poses a significant challenge for multi-robot teams tasked with localizing the source of chemical leaks or tracking the dispersion of an oil spill. The flow dynamics can be time-varying and chaotic,…

This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…

This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…