Said Al-Abri

2 accepted papers

2023

Hybrid SUSD-Based Task Allocation for Heterogeneous Multi-Robot Teams

Shengkang Chen, Tony X. Lin, Said Al-Abri, Ronald C. Arkin, Fumin Zhang

ICRA 2023poster

Effective task allocation is an essential component to the coordination of heterogeneous robots. This paper proposes a hybrid task allocation algorithm that improves upon given initial solutions, for example from the popular decentralized market-based allocation algorithm, via a derivative-free opti…

Cited by 9 Source ↗Scholar ↗

2020

A Distributed Scalar Field Mapping Strategy for Mobile Robots

Tony X. Lin, Said Al-Abri, Samuel Coogan, Fumin Zhang

IROS 2020poster

This paper proposes a distributed field mapping algorithm that drives a team of robots to explore and learn an unknown scalar field. The algorithm is based on a bio-inspired approach known as Speeding-Up and Slowing-Down (SUSD) for distributed source seeking problems. Our algorithm leverages a Gauss…

Cited by 10 Source ↗Scholar ↗