9 papers
D2CoPlan: A Differentiable Decentralized Planner for Multi-Robot Coverage
Vishnu Dutt Sharma, Lifeng Zhou, Pratap Tokekar
Centralized approaches for multi-robot coverage planning problems suffer from the lack of scalability. Learning-based distributed algorithms provide a scalable avenue in addition t…
Multi-Robot Coordination and Planning in Uncertain and Adversarial Environments
Lifeng Zhou, Pratap Tokekar
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic develo…
Communication-Aware Multi-robot Coordination with Submodular Maximization
Guangyao Shi, Ishat E Rabban, Lifeng Zhou +1
Submodular maximization has been widely used in many multi-robot task planning problems including information gathering, exploration, and target tracking. However, the interplay be…
Risk-Aware Submodular Optimization for Multi-objective Travelling Salesperson Problem
Rishab Balasubramanian, Lifeng Zhou, Pratap Tokekar +1
We introduce a risk-aware multi-objective Traveling Salesperson Problem (TSP) variant, where the robot tour cost and tour reward have to be optimized simultaneously. The robot obta…
Risk-Aware Planning and Assignment for Ground Vehicles using Uncertain Perception from Aerial Vehicles
Vishnu D. Sharma, Maymoonah Toubeh, Lifeng Zhou +1
We propose a risk-aware framework for multi-robot, multi-demand assignment and planning in unknown environments. Our motivation is disaster response and search-and-rescue scenarios…
Resilient Active Target Tracking with Multiple Robots
Lifeng Zhou, Vasileios Tzoumas, George J. Pappas +1
The problem of target tracking with multiple robots consists of actively planning the motion of the robots to track the targets. A major challenge for practical deployments is to m…