相关论文: Frontier Shepherding: A Bio-inspired Multi-robot F…
Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…
Many applications require robots to move through complex 3-D terrain with large obstacles, such as self-driving, search and rescue, and extraterrestrial exploration. Although robots are already excellent at avoiding sparse obstacles, they…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
The control and guidance of multi-robots (swarm) is a non-trivial problem due to the complexity inherent in the coupled interaction among the group. Whether the swarm is cooperative or non-cooperative, lessons can be learnt from sheepdogs…
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight…
Recent advances have improved autonomous navigation and mapping under payload constraints, but current multi-robot inspection algorithms are unsuitable for nano-drones due to their need for heavy sensors and high computational resources. To…
Autonomous exploration is a widely studied problem where a robot incrementally builds a map of a previously unknown environment. The robot selects the next locations to reach using an exploration strategy. To do so, the robot has to balance…
Automatic design is a promising approach to realizing robot swarms. Given a mission to be performed by the swarm, an automatic method produces the required control software for the individual robots. Automatic design has concentrated on…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
Collaborative multiple robots for unknown environment exploration have become mainstream due to their remarkable performance and efficiency. However, most existing methods assume perfect robots' communication during exploration, which is…
For mobile robots to be effectively applied to real world unstructured environments -- such as large scale farming -- they require the ability to generate adaptive plans that account both for limited onboard resources, and the presence of…
The long-standing, dominant approach to robotic obstacle negotiation relies on mapping environmental geometry to avoid obstacles. However, this approach does not allow for traversal of cluttered obstacles, hindering applications such as…
We present a general framework for modeling a wide selection of flocking scenarios under free boundary conditions. Several variants have been considered - including examples for the widely observed behavior of hierarchically interacting…
Heterogeneous multi-robot systems are advantageous for operations in unknown environments because functionally specialised robots can gather environmental information, while others perform tasks. We define this decomposition as the…
The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…
Designing systems for autonomous transport of groups of living agents has received a lot of attention in recent years due to a wealth of important potential applications. Biomimetic approaches are often sought, and a range of herding…
Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in such applications, promising to cover large areas at high…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
Multi-agent autonomous exploration is essential for applications such as environmental monitoring, search and rescue, and industrial-scale surveillance. However, effective coordination under communication constraints remains a significant…