相关论文: Communication-aware planning for robot teams deplo…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
We study distributed planning for multi-robot systems to provide optimal service to cooperative tasks that are distributed over space and time. Each task requires service by sufficiently many robots at the specified location within the…
Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots. The method first assigns robots to goals to minimize total…
The importance of ground Mobile Robots (MRs) and Unmanned Aerial Vehicles (UAVs) within the research community, industry, and society is growing fast. Many of these agents are nowadays equipped with communication systems that are, in some…
This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…
There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
This paper addresses task planning problems for language-instructed robot teams. Tasks are expressed in natural language (NL), requiring the robots to apply their capabilities at various locations and semantic objects. Several recent works…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning…
This paper proposes a strategy for a group of deaf and dumb robots, carrying clocks from different countries, to meet at a geographical location which is not fixed in advanced. The robots act independently. They can observe others, compute…
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 exchange of information is key in applications that involve multiple agents, such as search and rescue, military operations, and disaster response. In this work, we propose a simple and effective trajectory planning framework that…
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure for communication. The backbone for modern mapping techniques…
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…