相关论文: Decentralized Gaussian Process Classification and …

Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…

Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…

Multi-agent mapping is a fundamentally important capability for autonomous robot task coordination and execution in complex environments. While successful algorithms have been proposed for mapping using individual platforms, cooperative…

Multi-robot simultaneous localization and mapping (SLAM) is a fundamental task in multi-robot operations. Robots must have a common understanding of their location and that of their team members to complete coordinated actions. However,…

This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…

Relative localization of unmanned aerial vehicle (UAV) swarms in global navigation satellite system (GNSS) denied environments is essential for emergency rescue and battlefield reconnaissance. Existing methods suffer from significant…

In this paper, we propose a decentralized coordina- tion algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on a shared…

In this paper, we develop a distributed mechanism for spectrum sharing among a network of unmanned aerial vehicles (UAV) and licensed terrestrial networks. This method can provide a practical solution for situations where the UAV network…

Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…

The exploration and sustainable use of marine environments have become increasingly critical as oceans cover over 70% of surface of Earth. This paper provides a comprehensive survey and classification of state-of-the-art underwater vehicles…

Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones…

We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…

We consider communication in a fully cooperative multi-agent system, where the agents have partial observation of the environment and must act jointly to maximize the overall reward. We have a discrete-time queueing network where agents…

For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…

Underwater vehicles are utilized in various applications including underwater data-collection missions. The tethered connection constrains the mission both in distance traveled and number of vehicles that can run in the same area, while the…

This paper addresses the joint optimization of trajectories and bandwidth allocation for multiple Unmanned Aerial Vehicles (UAVs) to enhance energy efficiency in the cooperative data collection problem. We focus on an important yet…

The increasing level of sound pollution in marine environments poses an increased threat to ocean health, making it crucial to monitor underwater noise. By monitoring this noise, the sources responsible for this pollution can be mapped.…

This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC)…

Wildfires are destructive and inflict massive, irreversible harm to victims' lives and natural resources. Researchers have proposed commissioning unmanned aerial vehicles (UAVs) to provide firefighters with real-time tracking information;…

Multi-agent safe systems have become an increasingly important area of study as we can now easily have multiple AI-powered systems operating together. In such settings, we need to ensure the safety of not only each individual agent, but…