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This work focuses on multi-robot coordination based on the Hoplites framework for solving the Multi-Robot Task Allocation (MRTA) problem. In particular, we investigate three variations of increasing complexity for the MRTA problem: spatial task allocation based on distance, spatial task allocation based on time and distance, and persistent coverage. The Fast Marching Method (FMM) has been used for...
Ultra Wide Band (UWB) is an emerging technology in the field of indoor localization, mainly due to its high performances in indoor scenarios and relatively easy deployment. However, in complex indoor environments, its positioning accuracy may drastically decrease due to biases introduced when emitters and receivers operate in Non Line-of-Sight (NLOS) conditions. This undesired phenomenon can be attenuated...
Persistent coverage aims to maintain a certain coverage level over time in an environment where such level deteriorates. This level can be associated to temperature, dust or sensor information. We propose an algorithmic solution in which each robot locally finds the best paths and coverage actions to keep the desired coverage level over the whole environment. Using Fast Marching Methods, optimal paths...
In this work, we present a novel approach to human-aware navigation by probabilistically modelling the uncertainty of perception for a social robotic system and investigating its effect on the overall social navigation performance. The model of the social costmap around a person has been extended to consider this new uncertainty factor, which has been widely neglected despite playing an important...
Introducing simple robotic platforms into domestic environments is faced with the challenge of social acceptability. Therefore human-aware navigation is a must for robots operating in environments shared with human users. In this work, we focus on the human-aware navigation problem in a structured environment for a robot with limited sensing and constrained maneuvering called Ranger. The Ranger is...
The design of high-performing robotic controllers constitutes an example of expensive optimization in uncertain environments due to the often large parameter space and noisy performance metrics. There are several evaluative techniques that can be employed for on-line controller design. Adequate benchmarks help in the choice of the right algorithm in terms of final performance and evaluation time....
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