4 papers
Communication-Constrained Multi-Robot Exploration With Adaptive Communication Windows
Ben Rossano, Jaein Lim, Jonathan P. How
Exploring unknown environments with multi-robot teams can improve efficiency by allowing robots to explore in parallel. However, realizing these gains requires effective informatio…
SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments
Kota Kondo, Jesús Tordesillas, Jonathan P. How +3
This paper presents SANDO, a safe trajectory planner for 3D dynamic unknown environments. Existing soft-constraint planners are fast but do not guarantee collision-free paths, whil…
Controlled Flight of an Insect-Scale Flapping-Wing Robot via Integrated Onboard Sensing and Computation
Yi-Hsuan Hsiao, Quang Phuc Kieu, Zhongtao Guan +6
Aerial insects can effortlessly navigate dense vegetation, whereas similarly sized aerial robots typically depend on offboard sensors and computation to maintain stable flight. Thi…
Uncertainty-Aware Multi-Robot Task Allocation With Strongly Coupled Inter-Robot Rewards
Ben Rossano, Jaein Lim, Jonathan P. How
Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such…