@conference {Zhang2021,
	title = {Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation},
	booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2021},
	pages = {8158{\textendash}8164},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Xi{\textquoteright}an, China},
	abstract = {This paper introduces a novel task-space decomposed motion planning framework for multi-robot simultaneous locomotion and manipulation. When several manipulators hold an object, closed-chain kinematic constraints are formed, and it will make the motion planning problems challenging by inducing lower-dimensional singularities. Unfortunately, the constrained manifold will be even more complicated when the manipulators are equipped with mobile bases. We address the problem by introducing a dual-resolution motion planning framework which utilizes a convex task region decomposition method, with each resolution tuned to efficient computation for their respective roles. Concretely, this dual-resolution approach enables a global planner to explore the low-dimensional decomposed task-space regions toward the goal, then a local planner computes a path in high-dimensional constrained configuration space. We demonstrate the proposed method in several simulations, where the robot team transports the object toward the goal in the obstacle-rich environments.},
	keywords = {Computational modeling, Conferences, Kinematics, Manifolds, Manipulators, Planning, System recovery},
	isbn = {978-1-7281-9078-5},
	issn = {1050-4729},
	doi = {10.1109/ICRA48506.2021.9560902},
	author = {Xiaoyu Zhang and Lei Yan and Tin Lun Lam and Sethu Vijayakumar}
}
@article {215,
	title = {A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios},
	journal = {Journal of Field Robotics},
	year = {2015},
	pages = {n/a{\textendash}n/a},
	issn = {1556-4967},
	doi = {10.1002/rob.21636},
	url = {http://dx.doi.org/10.1002/rob.21636},
	author = {Garz{\'o}n, Mario and Valente, Jo{\~a}o and Rold{\'a}n, Juan Jes{\'u}s and Cancar, Leandro and Barrientos, Antonio and Del Cerro, Jaime}
}
@article {201,
	title = {Benchmark of Swarm Robotics Distributed Techniques in a Search Task},
	journal = {Robotics and Autonomous Systems},
	volume = {62},
	year = {2014},
	month = {Feb.},
	pages = {200-213},
	author = {Couceiro, M.S. and Vargas, P. A. and Rocha, R. P. and Ferreira, N. M. F.}
}
@article {198,
	title = {Bridging the Reality Gap between the Webots Simulator and e-puck Robots},
	journal = {Robotics and Autonomous Systems},
	volume = {62},
	year = {2014},
	month = {Oct.},
	pages = {1549{\textendash}1567},
	author = {Couceiro, M C and Vargas, P A and Rocha, R P}
}
@article {216,
	title = {An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas},
	journal = {Sensors},
	volume = {13},
	year = {2013},
	pages = {1247},
	abstract = {There are many outdoor robotic applications where a robot must reach a goal position or explore an area without previous knowledge of the environment around it. Additionally, other applications (like path planning) require the use of known maps or previous information of the environment. This work presents a system composed by a terrestrial and an aerial robot that cooperate and share sensor information in order to address those requirements. The ground robot is able to navigate in an unknown large environment aided by visual feedback from a camera on board the aerial robot. At the same time, the obstacles are mapped in real-time by putting together the information from the camera and the positioning system of the ground robot. A set of experiments were carried out with the purpose of verifying the system applicability. The experiments were performed in a simulation environment and outdoor with a medium-sized ground robot and a mini quad-rotor. The proposed robotic system shows outstanding results in simultaneous navigation and mapping applications in large outdoor environments.},
	issn = {1424-8220},
	doi = {10.3390/s130101247},
	url = {http://www.mdpi.com/1424-8220/13/1/1247},
	author = {Garz{\'o}n, Mario and Valente, Jo{\~a}o and Zapata, David and Barrientos, Antonio}
}
@conference {38,
	title = {Fast task-sequence allocation for heterogeneous robot teams with a human in the loop},
	booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems {(IROS)},
	year = {2013},
	abstract = {Efficient task allocation with timing constraints to a team of possibly heterogeneous robots is a challenging problem with application, e.g., in search and rescue. In this paper a mixed-integer linear programming (MILP) approach is proposed for assigning heterogeneous robot teams to the simultaneous completion of sequences of tasks with specific requirements such as completion deadlines. For this purpose our approach efficiently combines the strength of state of the art Mixed Integer Linear Programming (MILP) solvers with human expertise in mission scheduling. We experimentally show that simple and intuitive inputs by a human user have substantial impact on both computation time and quality of the solution. The presented approach can in principle be applied to quite general missions for robot teams with human supervision.},
	keywords = {computation time, Computational modeling, fast task sequence allocation, heterogeneous robot teams, heterogeneous robots, human in the loop, human supervision, human user, integer programming, linear programming, Mathematical model, MILP solvers, mission scheduling, mixed integer linear programming, Multi-robot systems, Resource management, Robot kinematics, Schedules, task allocation},
	doi = {10.1109/IROS.2013.6696570},
	author = {Petersen, K. and Kleiner, A. and Von Stryk, O.}
}
@article {40,
	title = {RoboCup Rescue Robot and Simulation Leagues},
	journal = {AI Magazine},
	volume = {34},
	year = {2013},
	pages = {78{\textendash}87},
	abstract = {The RoboCup Rescue Robot and Simulation competitions have been held since 2000. The experience gained during these competitions has increased the maturity level of the field, which allowed deploying robots after real disasters (e.g. Fukushima Daiichi nuclear disaster). This article provides an overview of these competitions and highlights the state of the art and the lessons learned.},
	author = {H. L. Akin and N. Ito and A. Jacoff and A. Kleiner and J. Pellenz and A. Visser}
}
@inbook {217,
	title = {Computational Science and Its Applications - ICCSA 2011: International Conference, Santander, Spain, June 20-23, 2011. Proceedings, Part III},
	year = {2011},
	pages = {58{\textendash}73},
	publisher = {Springer Berlin Heidelberg},
	organization = {Springer Berlin Heidelberg},
	chapter = {Multi-robot Visual Coverage Path Planning: Geometrical Metamorphosis of the Workspace through Raster Graphics Based Approaches},
	address = {Berlin, Heidelberg},
	isbn = {978-3-642-21931-3},
	doi = {10.1007/978-3-642-21931-3_5},
	url = {http://dx.doi.org/10.1007/978-3-642-21931-3_5},
	author = {Valente, Jo{\~a}o and Barrientos, Antonio and Del Cerro, Jaime and Rossi, Claudio and Colorado, Julian and Sanz, David and Garz{\'o}n, Mario},
	editor = {Murgante, Beniamino and Gervasi, Osvaldo and Iglesias, Andr{\'e}s and Taniar, David and Apduhan, Bernady O.}
}
@article {172,
	title = {Enforcing Network Connectivity in Robot Team Missions},
	journal = {The International Journal of Robotics Research},
	volume = {29},
	year = {2010},
	pages = {460-480},
	abstract = {The growing interest in robot teams for surveillance or rescue missions entails new technological challenges. Robots have to move to complete their tasks while maintaining communication among themselves and with their human operators, in many cases without the aid of a communication infrastructure. Guaranteeing connectivity enables robots to explicitly exchange information needed in collaborative task execution, and allows operators to monitor or manually control any robot at all times. Network paths should be multi-hop, so as not to unnecessarily restrict the team{\textquoteright}s range. In this work we contribute a complete system which integrates three research aspects, usually studied separately, to achieve these characteristics: a multi-robot cooperative motion control technique based on a virtual spring{\textemdash}damper model which prevents communication network splits, a task allocation algorithm that takes advantage of network link information in order to ensure autonomous mission completion, and a network layer which works over wireless 802.11 devices, capable of sustaining hard real-time traffic and changing topologies. Link quality among peers is the key metric used to cooperatively move the robots and maintain uninterrupted connectivity, and the basis for novel ideas presented in each subsystem. Simulations and experimental results with real robots are presented and discussed.},
	doi = {10.1177/0278364909358274},
	url = {http://ijr.sagepub.com/content/29/4/460.abstract},
	author = {Tardioli, D. and Mosteo, A.R. and Riazuelo, L. and Villarroel, J.L. and Montano, L.}
}
@article {140,
	title = {The Sensor-based Random Graph Method for Cooperative Robot Exploration},
	journal = {IEEE/ASME Transaction on Mechatronics},
	volume = {14},
	year = {2009},
	month = {04/2009},
	pages = {163-175},
	abstract = {We present a decentralized cooperative exploration strategy for a team of mobile robots equipped with range finders. A roadmap of the explored area, with the associate safe region, is built in the form of a Sensor-based Random Graph (SRG). This is expanded by the robots by using a randomized local planner which automatically realizes a trade-off between information gain and navigation cost. The nodes of the SRG represent view configurations that have been visited by at least one robot, and are connected by arcs that represent safe paths. These paths have been actually traveled by the robots or added to the SRG to improve its connectivity. Decentralized cooperation and coordination mechanisms are used so as to guarantee exploration efficiency and avoid conflicts. Simulations and experiments are presented to show the performance of the proposed technique.},
	keywords = {Coverage, Distributed algorithms, Exploration, Multi-robot systems},
	author = {Antonio Franchi and Luigi Freda and Giuseppe Oriolo and Marilena Vendittelli}
}
@inbook {182,
	title = {A Distributed Multi-robot Cooperation Framework for Real Time Task Achievement},
	booktitle = {Distributed Autonomous Robotic Systems 7},
	year = {2006},
	pages = {187-196},
	publisher = {Springer},
	organization = {Springer},
	isbn = {978-4-431-35878-7},
	doi = {10.1007/4-431-35881-1_19},
	url = {http://dx.doi.org/10.1007/4-431-35881-1_19},
	author = {Sanem Sariel and Tucker Balch},
	editor = {Gini, Maria and Voyles, Richard}
}
@inbook {183,
	title = {Empirical Evaluation of Auction-Based Coordination of AUVs in a Realistic Simulated Mine Countermeasure Task},
	booktitle = {Distributed Autonomous Robotic Systems 7},
	year = {2006},
	pages = {197-206},
	publisher = {Springer},
	organization = {Springer},
	isbn = {978-4-431-35878-7},
	doi = {10.1007/4-431-35881-1_19},
	url = {http://dx.doi.org/10.1007/4-431-35881-1_19},
	author = {Sanem Sariel and Tucker Balch and Jason Stack},
	editor = {Gini, Maria and Voyles, Richard}
}
@article {208,
	title = {Towards a New Mobility Concept for Cities: Architecture \& Programming of Semi-Autonomous Electric Vehicles},
	journal = {Industrial Robot},
	volume = {34},
	year = {200},
	month = {Mar},
	pages = {142-149},
	author = {Rocha, R. and Cunha, A. and Varandas, J. and Dias, J.}
}
