相关论文: Study of Self-Organization Model of Multiple Mobil…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
In communicationless environments, multi-robot systems must operate without the constant information exchange that many coordination strategies typically assume. This paper presents a novel dynamic epistemic planning framework that enables…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states,…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
In this paper, we propose a novel hierarchical framework for robot navigation in dynamic environments with heterogeneous constraints. Our approach leverages a graph neural network trained via reinforcement learning (RL) to efficiently…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
LLM-based multi-agent systems have demonstrated significant capabilities across diverse domains. However, the task performance and efficiency are fundamentally constrained by their collaboration strategies. Prevailing approaches rely on…
Metro crew planning is a key component of smart city development as it directly impacts the operational efficiency and service reliability of public transportation. With the rapid expansion of metro networks, effective multi-line scheduling…
Coordinated multi-robot navigation is an essential ability for a team of robots operating in diverse environments. Robot teams often need to maintain specific formations, such as wedge formations, to enhance visibility, positioning, and…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…
Social robot navigation can be helpful in various contexts of daily life but requires safe human-robot interactions and efficient trajectory planning. While modeling pairwise relations has been widely studied in multi-agent interacting…