9 accepted papers
Deployment of teams of aerial robots could enable large-scale filming of dynamic groups of people (actors) in complex environments for applications in areas such as team sports and cinematography. Toward this end, methods for submodular maximization via sequential greedy planning can enable scalable…
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable robots to methodically explore and observe an unknown set of room
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual information objective. Such problems are NP-Hard in general. Yet, our…
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operating in unknown environments. For example, a volumetric objective may reward robots proportionally to the expected volume…
This letter presents a framework for planning and perception for multi-robot exploration in large and unstructured three-dimensional environments. We employ a Gaussian mixture model for global mapping to model complex environment geometries while maintaining a small memory footprint which enables di
This work considers estimation of mass parameters for multi-robot coordinated lifting in the context of coordinated aerial manipulation, and develops strategies for active parameter estimation for cooperative manipulation tasks through an information-theoretic framework. The active sensing problem i…
This work addresses the problem of efficient online exploration and mapping using multi-robot teams via a distributed algorithm for planning for multi-robot exploration---distributed sequential greedy assignment (DSGA)---based on the sequential greedy assignment (SGA) algorithm. SGA permits bounds o…
This paper presents a real-time, kinodynamic planning and information-theoretic exploration framework that enables high-resolution mapping of three-dimensional environments featuring complex concavities and disjoint objects. The proposed approach targets planetary exploration applications and seeks…
In this paper, we present an algorithm to solve the Multi-Robot Persistent Coverage Problem (MRPCP). Here, we seek to compute a schedule that will allow a fleet of agents to visit all targets of a given set while maximizing the frequency of visitation and maintaining a sufficient fuel capacity by re…