LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments [PDF]
IEEE Robotics and Automation Letters, 2022 Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and perceptually-degraded
Yun Chang +11 more
semanticscholar +1 more source
Swarm-SLAM: Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems [PDF]
IEEE Robotics and Automation Letters, 2023 Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital component for successful multi-robot operations in environments without an external positioning system, such as indoors, underground or underwater.
Pierre-Yves Lajoie, G. Beltrame
semanticscholar +1 more source
Heterogeneous Multi-Robot Reinforcement Learning [PDF]
Adaptive Agents and Multi-Agent Systems, 2023 Cooperative multi-robot tasks can benefit from heterogeneity in the robots' physical and behavioral traits. In spite of this, traditional Multi-Agent Reinforcement Learning (MARL) frameworks lack the ability to explicitly accommodate policy heterogeneity,
Matteo Bettini +2 more
semanticscholar +1 more source
Asynchronous Multi-Agent Reinforcement Learning for Efficient Real-Time Multi-Robot Cooperative Exploration [PDF]
Adaptive Agents and Multi-Agent Systems, 2023 We consider the problem of cooperative exploration, where multiple robots need to cooperatively explore an unknown region as fast as possible. Multi-agent reinforcement learning (MARL) has recently become a trending paradigm for solving this challenge ...
Chao Yu +10 more
semanticscholar +1 more source
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems [PDF]
IEEE Transactions on robotics, 2021 Multi-robot simultaneous localization and mapping (SLAM) is a crucial capability to obtain timely situational awareness over large areas. Real-world applications demand multi-robot SLAM systems to be robust to perceptual aliasing and to operate under ...
Yulun Tian +5 more
semanticscholar +1 more source
A Critical Review of Communications in Multi-robot Systems [PDF]
Current Robotics Reports, 2022 This review summarizes the broad roles that communication formats and technologies have played in enabling multi-robot systems. We approach this field from two perspectives: of robotic applications that need communication capabilities in order to ...
Jennifer Gielis +2 more
semanticscholar +1 more source
Multi-Robot Collaborative Perception With Graph Neural Networks [PDF]
IEEE Robotics and Automation Letters, 2022 Multi-robot systems such as swarms of aerial robots are naturally suited to offer additional flexibility, resilience, and robustness in several tasks compared to a single robot by enabling cooperation among the agents.
Yang Zhou +3 more
semanticscholar +1 more source
Group-Based Distributed Auction Algorithms for Multi-Robot Task Assignment
IEEE Transactions on Automation Science and Engineering, 2023 This paper studies the multi-robot task assignment problem in which a fleet of dispersed robots needs to efficiently transport a set of dynamically appearing packages from their initial locations to corresponding destinations within prescribed time ...
Xiaoshan Bai +4 more
semanticscholar +1 more source
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly [PDF]
IEEE Transactions on robotics, 2021 Robotic construction assembly planning aims to find feasible assembly sequences as well as the corresponding robot-paths and can be seen as a special case of task and motion planning (TAMP).
Valentin N. Hartmann +4 more
semanticscholar +1 more source
Multi-robot Control via Smart Phone and Navigation in Robot Operating System [PDF]
Problemy Mechatroniki, 2017 Robot Operating System (ROS) is an open source robot software framework which provides several libraries and tools to easily conduct different robot applications like autonomous navigation and robot teleoperation.
Khadir BESSEGHIEUR +2 more
doaj +1 more source