相关论文: Energy-Constrained Resilient Multi-Robot Coverage …
Maintaining a robust communication network plays an important role in the success of a multi-robot team jointly performing an optimization task. A key characteristic of a robust multi-robot system is the ability to repair the communication…
The control and sensing of large-scale systems results in combinatorial problems not only for sensor and actuator placement but also for scheduling or observability/controllability. Such combinatorial constraints in system design and…
Rechargeable lithium-ion (Li-ion) batteries are a ubiquitous element of modern technology. In the last decades, the production and design of such batteries and their adjacent embedded charging and safety protocols, denoted by Battery…
Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction…
This paper focuses on designing motion plans for a heterogeneous team of robots that must cooperate to fulfill a global mission. Robots move in an environment that contains some regions of interest, while the specification for the entire…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
We consider a fundamental problem concerning the deployment of a wireless robotic network: to fulfill various end-to-end performance requirements, a "sufficient" number of robotic relays must be deployed to ensure that links are of…
Voronoi coverage control is a particular problem of importance in the area of multi-robot systems, which considers a network of multiple autonomous robots, tasked with optimally covering a large area. This is a common task for fleets of…
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…
In the field of precision manufacturing in complex constrained environments, the role of soft robots is increasingly prominent, and the realization of anti-winding control based on multi-intelligent body reinforcement learning has become a…
The decarbonisation of heavy-duty railway networks requires maximising the capacity of existing electrical infrastructure. Integrating heavy freight alongside fast passenger services exposes the hard physical limits of conventional…
We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Two key issues in MWSNs - energy consumption, which is dominated by sensor movement, and sensing coverage - have attracted plenty of…
Distributed task assignment for multiple agents raises fundamental and novel control theory and robotics problems. A new challenge is the development of distributed algorithms that dynamically assign tasks to multiple agents, not relying on…
Indoor multi-robot communications face two key challenges: one is the severe signal strength degradation caused by blockages (e.g., walls) and the other is the dynamic environment caused by robot mobility. To address these issues, we…
In this paper, we propose a control framework for a battery energy storage system to provide simultaneously multiple services to the electrical grid. The objective is to maximise the battery exploitation from these services in the presence…
Due to their ability to anchor into tall urban landforms, such as lampposts or street lights, robotic aerial base stations (RABSs) can create a hyper-flexible wireless multi-hop heterogeneous network to meet the forthcoming green,…
Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees is through constraint-driven control, where…
In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…