In this paper we introduce a new concept namely, generalized Voronoi partition and use it to formulate two heterogeneous multi-agent search strategies. The core idea is optimal deployment of agents having sensors with heterogeneous capabilities, in a ...

For robots to become prevalent in human environments, the robots need to be able to perform complex tasks often involving sequential repetition of actions. In this work, we present a demonstration-based approach to teach a robot generalized plans for ...

We propose Markov random fields (MRFs) as a probabilistic mathematical model for unifying approaches to multi-robot coordination or, more specifically, distributed action selection. The MRF model is well-suited to domains in which the joint probability ...

This paper describes openSDK, an open-source implementation of Sony's AIBO development kit (OPEN-R). openSDK is capable of running unmodified AIBO programs (only a recompilation is necessary) on a standard computer, using a simulator at full frame rate (...

We present an algorithm that allows swarms of robots to navigate in environments containing unknown obstacles, moving towards and spreading along 2D shapes given by implicit functions. Basically, a gradient descent approach augmented with local obstacle ...

We consider the problem of distributed exploration or coverage of an unknown environment by a swarm of mobile mini-robots that have limited memory, computation and communication capabilities. We describe a novel mechanism of distributed coverage of an ...

This paper introduces Petri net (PN) based models of cooperative robotic tasks, namely those involving the coordination of two or more robots, thus requiring the exchange of synchronisation messages, either using explicit (e.g., wireless) or implicit (...

Solutions to complex tasks often require the cooperation of multiple robots, however, developing multi-robot policies can present many challenges. In this work, we introduce teaching by demonstration in the context of multi-robot tasks, enabling a ...

As the ability to produce a large number of small, simple robotic agents improves, it becomes essential to control the behavior of these agents in such a way that the sum of their actions gives rise to the desired overall result. These agents are ...

Multi-robot systems are becoming increasingly prevalent, but programmability is a major barrier to their deployment. Present systems force programmers to think in terms of individual agents. Application code becomes entangled with details of ...

We present a method for finding reduced time coverage paths of multiple UAVs (Unmanned Air Vehicles) monitoring a 3D terrain represented as height fields. A novel metric based on per time visibility is used that couples visibility gained at a terrain ...