9 accepted papers
We propose, analyze, and experimentally verify a new proactive approach for robot social navigation driven by the robot's “opinion” for which way and by how much to pass human movers crossing its path. The robot forms an opinion over time according to nonlinear dynamics that depend on the robot's ob…
This letter presents a coverage control algorithm for robots with different maximum speeds to effectively cover an area in terms of time of travel. In order to utilize the different speeds of the robots, the region of dominance of a robot is approximated by the set of points where the robot can arri
This paper presents an algorithm for a team of mobile robots to simultaneously learn a spatial field over a domain and spatially distribute themselves to optimally cover it. Drawing from previous approaches that estimate the spatial field through a centralized Gaussian process, this work leverages t…
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to protect both the robot from its surroundings and vice versa. Fur…
We present an algorithm for multi-robot coverage of an initially unknown spatial scalar field characterized by a density function, whereby a team of robots simultaneously estimates and optimizes its coverage of the density function over the domain. The proposed algorithm borrows powerful concepts fr…
This paper presents a coverage control algorithm for teams of quadcopters with downward facing visual sensors that prevents the appearance of coverage holes in-between the monitored areas while maximizing the coverage quality as much as possible. We derive necessary and sufficient conditions for pre…
In this paper we consider a constrained coverage control problem for a team of mobile robots. The robots are asked to provide sensor coverage over a two-dimensional domain, while being constrained to only move on a curve. The unconstrained coverage problem can be effectively solved by defining a loc…
This paper presents a coverage control strategy for teams of quadcopters that ensures that no area is left unsurveyed in between the fields of view of the visual sensors mounted on the quadcopters. We present a locational cost that quantifies the team's coverage performance according to the sensors'…
This paper presents a coverage algorithm for multi-robot systems where the robots are equipped with qualitatively different sensing modalities. Unlike previous approaches to the problem of coverage for teams with heterogeneous sensing capabilities, in this paper the robots have access to information…