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Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…

This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…

This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…

In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams. This class of problems involves tasks that can be executed in different ways and are associated with…

We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…

In order to fully exploit the advantages inherent to cooperating heterogeneous multi-robot teams, sophisticated coordination algorithms are essential. Time-extended multi-robot task allocation approaches assign and schedule a set of tasks…

We consider the problem of delivering multiple packages from a single depot to distinct goal locations using a homogeneous fleet of robots with limited carrying capacity. We propose VCST-RCP, a Voronoi-Constrained Steiner Tree Relay…

Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…

Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…

This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…

We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with densely populated obstacles and narrow passages. In such…

We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…

Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…

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.…

For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…

For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…

We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…

This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…

An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…

The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…