8 papers
Mind the Gaps: Multi-Robot Feedback-Driven Ergodic Coverage in Unknown Environments
Thales Costa Silva, Nora Ayanian
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in a…
ModTrack: Sensor-Agnostic Multi-View Tracking via Identity-Informed PHD Filtering with Covariance Propagation
Aditya Iyer, Jack Roberts, Nora Ayanian
Multi-View Multi-Object Tracking (MV-MOT) aims to localize and maintain consistent identities of objects observed by multiple sensors. This task is challenging, as viewpoint change…
Connectivity Maintenance and Recovery for Multi-Robot Motion Planning
Yutong Wang, Lishuo Pan, Yichun Qu +2
Connectivity is crucial in many multi-robot applications, yet balancing connectivity maintenance and fleet traversability in obstacle-rich environments remains challenging. Reactiv…
Empirical Hardness in Multi-Agent Pathfinding: Research Challenges and Opportunities
Jingyao Ren, Eric Ewing, T. K. Satish Kumar +2
Multi-agent pathfinding (MAPF) is the problem of finding collision-free paths for a team of agents on a map. Although MAPF is NP-hard, the hardness of solving individual instances…
Robust Trajectory Generation and Control for Quadrotor Motion Planning with Field-of-View Control Barrier Certification
Lishuo Pan, Mattia Catellani, Lorenzo Sabattini +1
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distribute…
Multi-Agent Path Finding Among Dynamic Uncontrollable Agents with Statistical Safety Guarantees
Kegan J. Strawn, Thomy Phan, Eric Wang +3
Existing multi-agent path finding (MAPF) solvers do not account for uncertain behavior of uncontrollable agents. We present a novel variant of Enhanced Conflict-Based Search (ECBS)…