3 papers
cs.RO2026
SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration
Taekyung Kim, Rahul H Kumar, Aswin D. Menon +2
Autonomous exploration in unknown environments is typically driven by informative frontiers, viewpoints, or trajectories, while local safety controllers avoid obstacles represented…
cs.RO2025
Adaptive Ergodic Search with Energy-Aware Scheduling for Persistent Multi-Robot Missions
Kaleb Ben Naveed, Devansh R. Agrawal, Rahul Kumar +1
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve…
cs.RO2024
meSch: Multi-Agent Energy-Aware Scheduling for Task Persistence
Kaleb Ben Naveed, An Dang, Rahul Kumar +1
This paper develops a scheduling protocol for a team of autonomous robots that operate on long-term persistent tasks. The proposed framework, called meSch, accounts for the limited…