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
Distributed Optimization Methods for Multi-Robot Systems: Part I - A Tutorial [PDF]
arXiv.org, 2023 Distributed optimization provides a framework for deriving distributed algorithms for a variety of multi-robot problems. This tutorial constitutes the first part of a two-part series on distributed optimization applied to multi-robot problems, which ...
O. Shorinwa +3 more
semanticscholar +1 more source
Combining Task and Motion Planning: Challenges and Guidelines
Frontiers in Robotics and AI, 2021 Combined Task and Motion Planning (TAMP) is an area where no one-fits-all solution can exist. Many aspects of the domain, as well as operational requirements, have an effect on how algorithms and representations are designed.
Masoumeh Mansouri +2 more
doaj +1 more source
Adaptivity: a path towards general swarm intelligence?
Frontiers in Robotics and AI, 2023 The field of multi-robot systems (MRS) has recently been gaining increasing popularity among various research groups, practitioners, and a wide range of industries.
Hian Lee Kwa +5 more
doaj +1 more source
A Framework for Real-World Multi-Robot Systems Running Decentralized GNN-Based Policies [PDF]
IEEE International Conference on Robotics and Automation, 2021 Graph Neural Networks (GNNs) are a paradigm-shifting neural architecture to facilitate the learning of complex multi-agent behaviors. Recent work has demonstrated remarkable performance in tasks such as flocking, multi-agent path planning and cooperative
Jan Blumenkamp +4 more
semanticscholar +1 more source
Coverage Control in Multi-Robot Systems via Graph Neural Networks [PDF]
IEEE International Conference on Robotics and Automation, 2021 This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a region ...
W. Gosrich +6 more
semanticscholar +1 more source
Distributed Weighted Coverage for Multi-Robot Systems in Non-Convex Environment
Applied Sciences, 2023 Multi-robot coverage systems are widely used in operations such as environmental monitoring, disaster rescue, and pollution prevention. This study considers inherent positioning errors in positioning systems and ground mobile robots with limited ...
Kai Cao +4 more
doaj +1 more source
Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision
IEEE Access, 2020 Search and rescue (SAR) operations can take significant advantage from supporting autonomous or teleoperated robots and multi-robot systems. These can aid in mapping and situational assessment, monitoring and surveillance, establishing communication ...
Jorge Pena Queralta +8 more
doaj +1 more source
Multi-Agent Deep Reinforcement Learning for Multi-Robot Applications: A Survey
Sensors, 2023 Deep reinforcement learning has produced many success stories in recent years. Some example fields in which these successes have taken place include mathematics, games, health care, and robotics. In this paper, we are especially interested in multi-agent
James Orr, Ayan Dutta
doaj +1 more source
Multi-robot cooperative autonomous exploration via task allocation in terrestrial environments
Frontiers in Neurorobotics, 2023 Cooperative autonomous exploration is a challenging task for multi-robot systems, which can cover larger areas in a shorter time or path length. Using multiple mobile robots for cooperative exploration of unknown environments can be more efficient than a
Xiangda Yan +3 more
doaj +1 more source