6 accepted papers
In this paper we present a new approach to Mobile Infrastructure on Demand (MID) where a dedicated team of robots creates and sustains a wireless network that satisfies the communication requirements of a different team of task-oriented robots seeking to coordinate their actions in the absence of ex…
In this letter we propose a data-driven approach to optimizing the algebraic connectivity of a team of robots. While a considerable amount of research has been devoted to this problem, we lack a method that scales in a manner suitable for online applications for more than a handful of agents. To tha
Many algorithms for control of multi-robot teams operate under the assumption that low-latency, global state information necessary to coordinate agent actions can readily be disseminated among the team. However, in harsh environments with no existing communication infrastructure, robots must form ad…
Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or Perception-Action loops closed over a communication channel, are a critical
In this work, we introduce Mobile Wireless Infrastructure on Demand: a framework for providing wireless connectivity to multi-robot teams via autonomously reconfiguring ad-hoc networks. In many cases, previous multi-agent systems either assumed the availability of existing communication infrastructu…
In this work, we present an information based exploration strategy tailored for the generation of high resolution 3D maps. We employ RGBD panoramas because they have been shown to provide memory efficient high quality representations of space. Robots explore the environment by selecting locations wi…