15 accepted papers
Multi-Robot Systems (MRS) are increasingly utilized in applications such as surveillance, environmental monitoring, and search and rescue, where maximizing mission rewards under budget constraints is critical. The Team Orienteering Problem (TOP) provides a framework for optimizing task coverage and
Vehicles capable of operating in more than one environment have been developed to solve real problems. Among them, the hybrid unmanned aerial-underwater vehicle (HUAUV) is receiving attention from the robotics community, mainly with a quadrotor-like configuration. However, this vehicle presents high…
Advancements in mobile robotics have allowed humans and robots to interact in different environments and ways. A problem of great interest in Human-Robot Interaction is how to approach individuals, e.g., to gather information, in a socially acceptable manner. We present a new method for planning seq…
Autonomous Marine Vehicles (AMVs) have gained interest for scientific and commercial applications, including pipeline and algae bloom monitoring, contaminant tracking, and ocean debris removal. The Team Orienteering Problem (TOP) is relevant in this context as Multi-Robot Systems (MRSs) allow for be…
In the context of Wireless Sensor Networks (WSNs), the Minimal Exposure Path (MEP) represents an important metric to evaluate the quality of network services. Most of the current literature is concentrated on stationary sensors, while few works have addressed the existence of moving nodes. Mobile Wi
In many environmental monitoring applications robots are often tasked to visit various distinct locations to make observations and/or collect specific measurements. The problem of scheduling and assigning robots to the various tasks and planning feasible paths for the robots can be posed as an Orien…
The Correlated Team Orienteering Problem (CTOP) is a routing problem where the objective is to determine a set of routes that maximizes the summation of collected rewards in the environment while respecting the vehicles’ budget. However, solutions to this problem usually consider static instances an…
Visiting and observing specified locations is a fundamental task for various applications including environmental monitoring and military operations. The Orienteering Problem (OP) is a variant of routing problems in which the goal is to maximize the objective function by visiting the most rewarding
In this paper, we propose an evolutionary algorithm for solving the multi-robot orienteering problem where a team of cooperative robots aims to maximize the total information collected by visiting a subset of given nodes within a fixed budget on travel costs. Multi-robot orienteering problems are re…
Despite the advances in autonomous navigation and motion planning, there are still several challenges to overcome, especially for confined or underground spaces. Confined scenarios present challenges such as lack of global or accurate external localization, uneven and slippery terrains, and multilev…
Multi-Robot Systems have been recently employed in different applications and have advantages over single-robot systems, such as increased robustness and task performance efficiency. We consider such assemblies specifically in the scenario of perimeter defense, where the task is to defend a circular…
We study strategies to deploy defenders/sensors to detect intruders that approach a targeted region. This scenario is formulated as a barrier coverage, which aims to minimize the number of unseen paths. The problem becomes challenging when the number of defenders is insufficient for a full coverage,…
In this paper, we address the problem of finding cost-efficient three-dimensional paths that satisfy the maximum allowed curvature and the pitch angle of the vehicle. For any given initial and final configurations, the problem is decoupled into finding the horizontal and vertical parts of the path s…
The increasing use of autonomous mobile robots in different parts of society, and not restricted only to industrial environments, makes it important to propose techniques that will allow them to behave in the most socially acceptable way as possible. In most real-world scenarios, individuals in the…
Path planning is a fundamental task for any kind of autonomous mobile robot. In this paper, we present a motion planning technique on the three-dimensional space considering vehicles with spatial curvature and pitch (climb or dive) angle constraints. Concerning real fixed-wing Unmanned Aerial Vehicl…