相关论文: Decentralized Uncertainty-Aware Active Search with…

Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…

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…

Robotic solutions for quick disaster response are essential to ensure minimal loss of life, especially when the search area is too dangerous or too vast for human rescuers. We model this problem as an asynchronous multi-agent active-search…

In disaster response or surveillance operations, quickly identifying areas needing urgent attention is critical, but deploying response teams to every location is inefficient or often impossible. Effective performance in this domain…

We present a fully integrated autonomous multi- robot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple relevant problems in search and rescue (SAR) robotics such as…

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…

Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…

The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…

Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…

A key challenge in disaster response is maintaining situational awareness of an evolving landscape, which requires balancing exploration of unobserved regions with sustained monitoring of changing Regions of Interest (ROIs). Unmanned Aerial…

Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…

Off-world multi-robot exploration is challenged by sparse targets, limited sensing, hazardous terrain, and restricted communication. Many scientifically valuable clues are visually ambiguous and often require close-range observations,…

Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…

This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…

An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the…

Performing autonomous exploration is essential for unmanned aerial vehicles (UAVs) operating in unknown environments. Often, these missions start with building a map for the environment via pure exploration and subsequently using (i.e.…

This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…

We consider the problem of multiple agents or robots searching for a target in the plane. This is motivated by Search and Rescue operations (SAR) in the high seas which in the past were often performed with several vessels, and more…

Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…