相关论文: Energy-Constrained Resilient Multi-Robot Coverage …
The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces significant challenges when some robots are lost or deviate from…
We propose a distributed control law for a heterogeneous multi-robot coverage problem, where the robots could have different energy characteristics, such as capacity and depletion rates, due to their varying sizes, speeds, capabilities, and…
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…
Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconnection topologies in multi-robot systems. In scenarios in…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
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…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
One aspect of the ever-growing need for long term autonomy of multi-robot systems, is ensuring energy sufficiency. In particular, in scenarios where charging facilities are limited, battery-powered robots need to coordinate to share access.…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
We propose a framework for resilience in a networked heterogeneous multi-robot team subject to resource failures. Each robot in the team is equipped with resources that it shares with its neighbors. Additionally, each robot in the team…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
In this paper, we study the problem of coverage of an environment with an energy-constrained robot in the presence of multiple charging stations. As the robot's on-board power supply is limited, it might not have enough energy to cover all…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
In modern networks, the use of drones as mobile base stations (MBSs) has been discussed for coverage flexibility. However, the realization of drone-based networks raises several issues. One of the critical issues is drones are extremely…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that…
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where…
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…
Mission-oriented drone networks have been widely used for structural inspection, disaster monitoring, border surveillance, etc. Due to the limited battery capacity of drones, mission execution strategy impacts network performance and…