Safe planning problem arises in many applications including autonomous driving and exploration scenarios. In this thesis, we focus on a particular case studied for emergency rescue missions. The main challenge of such problems is the computational complexity of handling a dynamic uncertainty, e.g., a spreading hazard. A multi-agent extension can potentially improve the safety of the mission. However, it further increases the computational complexity with the need to consider exponentially many possible task-robot combinations. To overcome these computational issues, we propose a two-stage framework splitting the multi-robot safe planning problem into a low-level single-agent safe planning problem and a high-level multi-robot task allocation...
In recent years, professional first responders have started to use novel technologies at the scene o...
Multi-robot task allocation is a general approach to coordinate a team of robots to complete a set o...
Expanding robotic space exploration beyond the immediate vicinity of Earth's orbit can only be achie...
This paper considers the problem of multi-robot safe mission planning in uncertain dynamic environme...
We propose novel techniques for task allocation and planning in multi-robot systems operating in unc...
Completed under a Cotutelle arrangement between the University of Melbourne and University of Birmi...
We present a novel modelling and planning approach for multi-robot systems under uncertain travel ti...
We present a novel modelling and planning approach for multi-robot systems under uncertain travel ti...
This paper develops an effective, cooperative, and probabilistically-complete multi-robot motion pla...
Robot applications are increasingly based on teams of robots that collaborate to perform a desired m...
Safe autonomous operation of dynamical systems has become one of the most important research problem...
This paper presents a strategy for planning robot motions in dynamic, uncertain environments (DUEs)....
Many robotic tasks, such as mobile manipulation, often require interaction with unstructured environ...
Collaboration is essential for effective performance by groups of robots in disaster response settin...
One of the main advantages of unmanned, autonomous vehicles is their potential use in dangerous situ...
In recent years, professional first responders have started to use novel technologies at the scene o...
Multi-robot task allocation is a general approach to coordinate a team of robots to complete a set o...
Expanding robotic space exploration beyond the immediate vicinity of Earth's orbit can only be achie...
This paper considers the problem of multi-robot safe mission planning in uncertain dynamic environme...
We propose novel techniques for task allocation and planning in multi-robot systems operating in unc...
Completed under a Cotutelle arrangement between the University of Melbourne and University of Birmi...
We present a novel modelling and planning approach for multi-robot systems under uncertain travel ti...
We present a novel modelling and planning approach for multi-robot systems under uncertain travel ti...
This paper develops an effective, cooperative, and probabilistically-complete multi-robot motion pla...
Robot applications are increasingly based on teams of robots that collaborate to perform a desired m...
Safe autonomous operation of dynamical systems has become one of the most important research problem...
This paper presents a strategy for planning robot motions in dynamic, uncertain environments (DUEs)....
Many robotic tasks, such as mobile manipulation, often require interaction with unstructured environ...
Collaboration is essential for effective performance by groups of robots in disaster response settin...
One of the main advantages of unmanned, autonomous vehicles is their potential use in dangerous situ...
In recent years, professional first responders have started to use novel technologies at the scene o...
Multi-robot task allocation is a general approach to coordinate a team of robots to complete a set o...
Expanding robotic space exploration beyond the immediate vicinity of Earth's orbit can only be achie...