4 papers · 1 filter
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…
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…
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…
Hierarchical Trajectory (Re)Planning for a Large Scale Swarm
Lishuo Pan, Yutong Wang, Nora Ayanian
We consider the trajectory replanning problem for a large-scale swarm in a cluttered environment. Our path planner replans for robots by utilizing a hierarchical approach, dividing…