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We address the problem of simultaneously covering an environment and tracking intruders (SCAT). The problem is translated to the task of covering environments with time-varying density functions under the locational optimization framework. This allows for coupling the basic subtasks: task assignment, coverage, and tracking. A decentralized controller with(More)
This paper presents a methodology for motion planning in outdoor environments that takes into account specific characteristics of the terrain. Instead of decomposing the robot configuration space into " free " and " occupied " , we consider the existence of several regions with different navigation costs. Costs are determined experimentally by navigating(More)
This paper addresses the problem of transporting objects with multiple mobile robots using the concept of object closure. In contrast to other manipulation techniques that are typically derived from form or force closure constraints, object closure requires the less stringent condition that the object be trapped or caged by the robots. Our basic goal in(More)
We address the problem of pattern generation in obstacle-filled environments by a swarm of mobile robots. Decentralized controllers are devised by using the Smoothed Particle Hydrodynamics (SPH) method. The swarm is modelled as an incompressible fluid subjected to external forces. Actual robot issues such as finite size and nonholonomic constraints are also(More)
— We address the problem of controlling a team of robots subject to constraints on relative positions. We adopt the general framework of leader-follower control in [1], [2] in which a network of controllers is used to control the position and orientation of the team and its shape. We propose two improvements to this scheme. First, we introduce cooperative(More)
— This paper addresses the problem of coordinating multiple mobile robots in a tightly coupled task by means of implicit communication. This approach allows the development of controllers that do not depend on any explicit data flow between the robots, thus relying only on local sensor information. A box-carrying task is used to validate the proposed(More)
In this paper we address the problem of transporting objects with multiple mobile robots using the concept of " object closure ". In contrast to other manipulation techniques that are typically derived from form or force closure constraints, object closure requires the less stringent condition that the object be trapped or caged by the robots. Our basic(More)
— We address the problem of covering an environment with robots equipped with sensors. The robots are heterogeneous in that the sensor footprints are different. Our work uses the location optimization framework in [1], [2], with three significant extensions. First, we consider robots with different sensor footprints, allowing, for example, aerial and ground(More)
We develop a network of distributed mobile sensor systems as a solution to the emergency response problem. The mobile sensors are inside a building and they form a connected ad-hoc network. We discuss cooperative localiza-tion algorithms for these nodes. The sensors collect temperature data and run a distributed algorithm to assemble a temperature gradient.(More)
We address the problem of planning the motion of a team of mobile robots subject to constraints imposed by sensors and the communication network. Our goal is to develop a decentralized motion control system that leads each robot to their individual goals while keeping connectivity with the neighbors. We present experimental results with a group of car-like(More)