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Submodular maximization has been widely used in many multi-robot task planning problems including information gathering, exploration, and target tracking. However, the interplay between submodular maximization and communication is rarely explored in the multi-robot setting. In many cases, maximizing the submodular objective may drive the robots in a way so as to disconnect the communication network. Driven by such observations, in this paper, we consider the problem of maximizing submodular function with connectivity constraints. Specifically, we propose a problem called Communication-aware Submodular Maximization (CSM), in which communication maintenance and submodular maximization are jointly considered in the decision-making process. One heuristic algorithm that consists of two stages, i.e. textit{topology generation} and textit{deviation minimization} is proposed. We validate the formulation and algorithm through numerical simulation. We find that our algorithm on average suffers only slightly performance decrease compared to the pure greedy strategy.
In this paper, we develop a learning-based approach for decentralized submodular maximization. We focus on applications where robots are required to jointly select actions, e.g., motion primitives, to maximize team submodular objectives with local co
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only local vie
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is subject t
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental uncertaint
Autonomous or teleoperated robots have been playing increasingly important roles in civil applications in recent years. Across the different civil domains where robots can support human operators, one of the areas where they can have more impact is i