7 accepted papers
We present our framework Behaviors, Objectives and Binary states for Coordinated Autonomous Tasks (BOBCAT), a multi-agent decision making and task management system for autonomous robots. BOBCAT builds on behavior-based systems and the Belief-Desire-Intention model for decision-making, by using miss…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the direct depth sensor information to ensure maximal information gai…
This paper presents a distributed optimization framework and its local utility design for communication-aware information gathering by mobile robotic sensor networks. The main idea of the optimization is that each robot decides based on its local utility that considers the decisions of other neighbo…
Autonomous navigation in unknown environments with the intent of exploring all traversable areas is a significant challenge for robotic platforms. In this paper, a simple yet reliable method for exploring unknown environments is presented based on bio-inspired reactive control and metric-topological…
This letter investigates the computation of information measures for distributed communication-aware information gathering by robotic sensor networks. The mutual information between an unknown target state and measurements received over a lossy network is derived in order to combine sensing and comm
We consider the problem of real-time path-planning in a spatiotemporally varying wind-field with moving obstacles. We are provided with changing wind and obstacle predictions along a (D + 1)-dimensional space-time lattice. We present an Any-Time algorithm that quickly finds an αβ-suboptimal solution
This paper examines the problem of distributed path planning for a mobile sensor network comprised of communication-aware robots performing general information gathering missions. Mutual information is derived for distributed sensing over packet erasure channels that model multi-hop communication. W…