相关论文: Multi-Robot Coordination Under Physical Limitation…

Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…

This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through…

This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based feedback design formulations, where the nominal cost function…

Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…

Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…

Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…

The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…

This letter presents an energy-efficient multi-robot coverage path planning (MRCPP) framework for large, nonconvex Regions of Interest (ROI) containing obstacles and no-fly zones (NFZ). Existing minimum-energy coverage planning algorithms…

Autonomous or teleoperated robots have been playing increasingly important roles in civil applications in recent years. Across the different civil domains where robots can support human operators, one of the areas where they can have more…

This paper reports a new hierarchical architecture for modeling autonomous multi-robot systems (MRSs): a nonlinear dynamical opinion process is used to model high-level group choice, and multi-objective behavior optimization is used to…

This paper presents a Vehicle-to-Everything (V2X) communication framework that enables decentralized cooperation among social robots operating in complex urban traffic environments. Building on ETSI Cooperative Awareness and Maneuver…

Real-time multi-robot coordination in hazardous and adversarial environments requires fast, reliable adaptation to dynamic threats. While Large Language Models (LLMs) offer strong high-level reasoning capabilities, the lack of safety…

While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…

This paper treats an optimal scheduling problem of control nodes in networked systems. We newly introduce both the L0 and l0 constraints on control inputs to extract a time-varying small number of effective control nodes. As the cost…

A Multi Robot System (MRS) is the infrastructure of an intelligent cyberphysical system, where the robots understand the need of the human, and hence cooperate together to fulfill this need. Modeling an MRS is a crucial aspect of designing…

Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…

In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous environments, and environmental monitoring. Coordination, in…

This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…