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This paper presents an algorithmic framework for the distributed on-line source seeking, termed as DoSS, with a multi-robot system in an unknown dynamical environment. Our algorithm, building on a novel concept called dummy confidence upper bound (D-UCB), integrates both estimation of the unknown environment and task planning for the multiple robots simultaneously, and as a result, drives the team of robots to a steady state in which multiple sources of interest are located. Unlike the standard UCB algorithm in the context of multi-armed bandits, the introduction of D-UCB significantly reduces the computational complexity in solving subproblems of the multi-robot task planning. This also enables our DoSS algorithm to be implementable in a distributed on-line manner. The performance of the algorithm is theoretically guaranteed by showing a sub-linear upper bound of the cumulative regret. Numerical results on a real-world methane emission seeking problem are also provided to demonstrate the effectiveness of the proposed algorithm.
This paper presents the design, development, and testing of hardware-software systems by the IISc-TCS team for Challenge 1 of the Mohammed Bin Zayed International Robotics Challenge 2020. The goal of Challenge 1 was to grab a ball suspended from a mo
Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly known a priori. This task is then often defined indirectly as a source
We present the design and implementation of a decentralised, heterogeneous multi-robot system for performing intelligence, surveillance and reconnaissance (ISR) in an unknown environment. The team consists of functionally specialised robots that gath
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
This conceptual paper overviews how blockchain technology is involving the operation of multi-robot collaboration for combating COVID-19 and future pandemics. Robots are a promising technology for providing many tasks such as spraying, disinfection,