@article {2017k-NesRobBueFra, title = {Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots}, journal = {Autonomous Robots}, volume = {41}, year = {2017}, month = {03/2016}, pages = {989-1011}, abstract = {This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous connectivity is guaranteed by building upon a recent connectivity maintenance method, in which limited range, line-of-sight visibility, and collision avoidance are taken into account at the same time. Completeness of the decentralized multi-target exploration algorithm is guaranteed by dynamically assigning the robots with different motion behaviors during the exploration task. One major group is subject to a suitable downscaling of the main traveling force based on the traveling efficiency of the current leader and the direction alignment between traveling and connectivity force. This supports the leader in always reaching its current target and, on a larger time horizon, that the whole team realizes the overall task in finite time. Extensive Monte~Carlo simulations with a group of several quadrotor UAVs show the scalability and effectiveness of the proposed method and experiments validate its practicability. }, keywords = {Connectivity maintenance, Exploration, Motion control of multiple robots, Patrolling / Surveillance}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/1505.05441v3.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2016g-NesRobBueFra-exp.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2016g-NesRobBueFra-empty.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2016g-NesRobBueFra-office.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2016g-NesRobBueFra-town.mp4}, author = {Thomas Nestmeyer and Paolo Robuffo Giordano and Heinrich H. B{\"u}lthoff and Antonio Franchi} } @booklet {2013l-NesRobFra, title = {Human-assisted Parallel Multi-target Visiting in a Connected Topology}, howpublished = {6th Int. Work. on Human-Friendly Robotics}, year = {2013}, month = {10/2012}, address = {Rome, Italy}, keywords = {Bilateral Shared Control of Mobile Robots, Connectivity maintenance, Motion control of multiple robots}, author = {Thomas Nestmeyer and Paolo Robuffo Giordano and Antonio Franchi} } @booklet {2013h-NesRieLaeHarBotRobFra, title = {Interactive Demo: Haptic Remote Control of Multiple UAVs with Autonomous Cohesive Behavior}, howpublished = {Int. Work. on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, at 2013 IEEE Int. Conf. on Robotics and Automation}, year = {2013}, month = {05/2013}, address = {Karlsruhe, Germany}, keywords = {Bilateral Shared Control of Mobile Robots, Connectivity maintenance, Middleware for robotics, UAV hardware platforms}, url = {http://icra2013mrs.tuebingen.mpg.de/}, author = {Thomas Nestmeyer and Martin Riedel and Johannes L{\"a}chele and Simon Hartmann and Fiete Botschen and Paolo Robuffo Giordano and Antonio Franchi} } @booklet {2012f-NesRobFra, title = {Multi-target Simultaneous Exploration with Continual Connectivity}, howpublished = {2th Int. Work. on Crossing the Reality Gap - From Single to Multi- to Many Robot Systems, at 2013 IEEE Int. Conf. on Robotics and Automation}, year = {2013}, month = {05/2013}, address = {Karlsruhe, Germany}, keywords = {Connectivity maintenance, Exploration, Motion control of multiple robots}, author = {Thomas Nestmeyer and Paolo Robuffo Giordano and Antonio Franchi} }