234 citations · 598 across the 24 of their papers we have counts for
8 papers · 1 filter
CAPRICORN: Communication Aware Place Recognition using Interpretable Constellations of Objects in Robot Networks
Benjamin Ramtoula, Ricardo de Azambuja, Giovanni Beltrame
Using multiple robots for exploring and mapping environments can provide improved robustness and performance, but it can be difficult to implement. In particular, limited communica…
Decentralized Connectivity Control in Quadcopters: a Field Study of Communication Performance
Jacopo Panerati, Benjamin Ramtoula, David St-Onge +5
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires tea…
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang +2
To achieve collaborative tasks, robots in a team need to have a shared understanding of the environment and their location within it. Distributed Simultaneous Localization and Mapp…
Swarm Relays: Distributed Self-Healing Ground-and-Air Connectivity Chains
Vivek Shankar Varadharajan, David St-Onge, Bram Adams +1
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robot…
An Adversarial Approach to Private Flocking in Mobile Robot Teams
Hehui Zheng, Jacopo Panerati, Giovanni Beltrame +1
Privacy is an important facet of defence against adversaries. In this letter, we introduce the problem of private flocking. We consider a team of mobile robots flocking in the pres…
Failure-Tolerant Connectivity Maintenance for Robot Swarms
Vivek Shankar Varadharajan, Bram Adams, Giovanni Beltrame
Connectivity maintenance plays a key role in achieving a desired global behavior among a swarm of robots. However, connectivity maintenance in realistic environments is hampered by…
Collaborative Localization and Tracking with Minimal Infrastructure
Yanjun Cao, David St-Onge, Andreas Zell +1
Localization and tracking are two very active areas of research for robotics, automation, and the Internet-of-Things. Accurate tracking for a large number of devices usually requir…
Collision-aware Task Assignment for Multi-Robot Systems
Fang Wu, Vivek Shankar Varadharajan, Giovanni Beltrame
We propose a novel formulation of the collision-aware task assignment (CATA) problem and a decentralized auction-based algorithm to solve the problem with optimality bound. Using a…