相关论文: Less is More: Robust Zero-Communication 3D Pursuit…

Efficient path planning for unmanned aerial vehicles (UAVs) is crucial in remote sensing and information collection. As task scales expand, the cooperative deployment of multiple UAVs significantly improves information collection…

We present a communication-free method for safe multi-robot coordination in complex environments such as forests with dense canopy cover, where GNSS is unavailable. Our approach relies on an onboard anisotropic 3D LiDAR sensor used for SLAM…

Parsimony, including sparsity and low rank, has been shown to successfully model data in numerous machine learning and signal processing tasks. Traditionally, such modeling approaches rely on an iterative algorithm that minimizes an…

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based…

We consider a class of pursuit-evasion differential games in which the evader has continuous access to the pursuer's location, but not vice-versa. There is an immobile sensor (e.g., a ground radar station) that can sense the evader's…

We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…

Collaborative perception emphasizes enhancing environmental understanding by enabling multiple agents to share visual information with limited bandwidth resources. While prior work has explored the empirical trade-off between task…

Diffusion models have emerged as powerful generative approaches for missing-data imputation, yet most existing methods operate directly in data space and degrade when training data are heavily incomplete. We investigate whether shifting…

We propose a novel formulation of the "effectiveness problem" in communications, put forth by Shannon and Weaver in their seminal work [2], by considering multiple agents communicating over a noisy channel in order to achieve better…

This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…

Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…

Emergent communication has made strides towards learning communication from scratch, but has focused primarily on protocols that resemble human language. In nature, multi-agent cooperation gives rise to a wide range of communication that…

A challenge in reinforcement learning (RL) is minimizing the cost of sampling associated with exploration. Distributed exploration reduces sampling complexity in multi-agent RL (MARL). We investigate the benefits to performance in MARL when…

The sparse object detection paradigm shift towards dense 3D semantic occupancy prediction is necessary for dealing with long-tail safety challenges for autonomous vehicles. Nonetheless, the current voxelization methods commonly suffer from…

This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…

Multi-agent reinforcement learning (MARL) has made significant strides in enabling coordinated behaviors among autonomous agents. However, most existing approaches assume that communication is instantaneous, reliable, and has unlimited…

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…

This paper considers a pursuit-evasion scenario among three agents -- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike…

Cooperative perception is critical for autonomous driving, overcoming the inherent limitations of a single vehicle, such as occlusions and constrained fields-of-view. However, current approaches sharing dense Bird's-Eye-View (BEV) features…

Robust cognitive radio development requires accurate 3D path loss models. Traditional empirical models often lack environment-awareness, while deep learning approaches are frequently constrained by the scarcity of large-scale training…