6 accepted papers
In this paper, we investigate how heterogeneous multi-robot systems with different sensing capabilities can observe a domain with an a priori unknown density function. Common coverage control techniques are targeted towards homogeneous teams of robots and do not consider what happens when the sensin…
The cost, in terms of both time and money, of instantiating a physical testbed can be prohibitive. To help resolve this issue, the Robotarium offers a free, remotely accessible robotics lab to users around the world. Since allowing the general public to use it, hundreds of users have submitted thous
In this paper, we propose a graph-based search method to optimally allocate tasks to a team of robots given a global task specification. In particular, we define these agents as discrete transition systems. In order to allocate tasks to the team of robots, we decompose finite linear temporal logic (…
This letter considers distributed flocking control on the Special Euclidean group for networked rigid bodies. The method captures the three flocking rules proposed by Reynolds: cohesion; alignment; and separation. The proposed controller is based only on relative pose (position and attitude) informa
In this paper, we present a novel procedure for constructing a topological map of an unknown environment from data collected by a swarm of robots with limited sensing capabilities and no communication or global localization. Topological maps are sparse roadmap representations of environments that ca
Swarms of low-cost autonomous robots can potentially be used to collectively perform tasks over very large domains and time scales. Novel robots for swarm applications are currently being developed as a result of recent advances in sensing, actuation, processing, power, and manufacturing. These plat