4 accepted papers
Motion planning for large-scale robotic swarms presents significant challenges in terms of scalability and safety assurance in cluttered environments. To address these issues, this manuscript proposes a Closed-loop hierarchical Risk-aware swarm mOtion planner using Conditional ValuE at Risk (C-ROVER…
Swarm robotics has garnered significant attention due to its ability to accomplish elaborate and synchronized tasks. Existing methodologies for motion planning of swarm robotic systems mainly encounter difficulties in scalability and safety guarantee. To address these limitations, we propose a Risk-…
Large-scale swarm robotic systems consisting of numerous cooperative agents show considerable promise for performing autonomous tasks across various sectors. Nonetheless, traditional motion planning approaches often face a trade-off between scalability and solution quality due to the exponential gro…
This paper develops a decentralized approach for mapping and information-driven path planning for Very Large Scale Robotic (VLSR) systems. In this approach, obstacle mapping is performed using a continuous probabilistic representation known as a Hilbert map, which formulates the mapping problem as a…