105 citations · 284 across the 15 of their papers we have counts for
8 papers · 2 filters
Multi-Robot Coordination and Cooperation with Task Precedence Relationships
Walker Gosrich, Siddharth Mayya, Saaketh Narayan +3
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allow…
The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems
Jake Welde, Matthew D. Kvalheim, Vijay Kumar
Mechanical systems naturally evolve on principal bundles describing their inherent symmetries. The ensuing factorization of the configuration manifold into a symmetry group and an…
SEER: Safe Efficient Exploration for Aerial Robots using Learning to Predict Information Gain
Yuezhan Tao, Yuwei Wu, Beiming Li +4
We address the problem of efficient 3-D exploration in indoor environments for micro aerial vehicles with limited sensing capabilities and payload/power constraints. We develop an…
Active Metric-Semantic Mapping by Multiple Aerial Robots
Xu Liu, Ankit Prabhu, Fernando Cladera +4
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful…
Adaptive Sampling of Latent Phenomena using Heterogeneous Robot Teams (ASLaP-HR)
Matthew Malencia, Sandeep Manjanna, M. Ani Hsieh +2
In this paper, we present an online adaptive planning strategy for a team of robots with heterogeneous sensors to sample from a latent spatial field using a learned model for decis…
Decentralized Risk-Aware Tracking of Multiple Targets
Jiazhen Liu, Lifeng Zhou, Ragesh Ramachandran +2
We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position e…
MARLAS: Multi Agent Reinforcement Learning for cooperated Adaptive Sampling
Lishuo Pan, Sandeep Manjanna, M. Ani Hsieh
The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the…
Stronger Together: Air-Ground Robotic Collaboration Using Semantics
Ian D. Miller, Fernando Cladera, Trey Smith +2
In this work, we present an end-to-end heterogeneous multi-robot system framework where ground robots are able to localize, plan, and navigate in a semantic map created in real tim…