Resilient Multi-Robot Coordination

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11 papers4 papers in the last four weeks, against 1 the four weeks before. 0.0% of all new papers.

Failure-Resilient Multi-Robot Coordination with $k$ -Connectivity Constrained Submodular Maximization
Oct 9, 2026Yoonjae Hwang, Hojune Kim, Ellen Novoseller +2Resilient Multi-Robot Coordination Multi-Robot Coordination
School of Computer Science, University of Southern California, Los Angeles, CA, USA · U.S. Army DEVCOM Army Laboratory
Budget-Constrained Fault-Tolerant Mutual Visibility for Autonomous Robots under the Mobility Fault Model
Oct 3, 2026Prakhar Shukla, Animesh Maiti, Shivam Kumar +1Resilient Multi-Robot Coordination Multi-Robot Coordination
Department of Mathematics Indian Institute of Technology Jodhpur Jodhpur, Rajasthan, India
When Robots Crash: Optimal Asynchronous Gathering at Weber Meeting Nodes
Oct 3, 2026Animesh Maiti, Prakhar Shukla, Abhinav Chakraborty +1Multi-Robot Systems Multi-Robot Coordination
Department of Mathematics, Indian Institute of Technology Jodhpur, Jodhpur, Rajasthan, India · Department of Mathematics, Birla Institute of Technology Mesra, Ranchi, Jharkhand, India
Hierarchical Multi-agent Reinforcement Learning for Warehouse Robot Coordination under Communication Loss
Sep 27, 2026Weihao Sun, Gehui Xu, Andreas A. MalikopoulosHierarchical RL Multi-Robot Coordination
Systems Engineering Program, Cornell University, Ithaca, NY 14850 USA · Department of Electrical and Electronic Engineering, Imperial College London, London SW7 2AZ, UK · Applied Mathematics, Systems Engineering, Mechanical Engineering, Electrical & Computer Engineering, and School of Civil & Environmental Engineering, Cornell University, Ithaca, NY, USA
Autonomous robotic bridging using distributed swarm control without inter-agent communication
Sep 1, 2026Vishwaak C. Thamaraiselvan, Cody L. Lundberg, Michail Theofandis +2Multi-Robot Formation Control Robotic Construction
The University of Texas at Arlington Research Institute (UTARI), Fort Worth, TX
Distributed Coordination for Resilient Multi-UAV Remote Sensing: A Photovoltaic Inspection Case Study
Jul 27, 2026Guillermo GP-Lenza, Miguel Fernandez-Cortizas, Martin Molina +1Resilient Multi-Robot Coordination Multi-Robot Coordination
Centre for Automation and Robotics C.A.R, (UPM-CSIC), Universidad Politécnica de Madrid, Spain · Department of Artificial Intelligence, Universidad Politécnica de Madrid,, Spain · Automation and Robotics Group (ARG-SnT), University of Luxembourg - SnT, Luxembourg
From Real-Time Planning to Reliable Execution:Scalable Coordination for Heterogeneous Multi-Robot Fleets in Industrial Environments
Jul 1, 2026Bo CaoMulti-Robot Motion Planning Robotics
Continual Quadruped Robots Coordination via Semantic Skill Discovery
Jun 6, 2026Daoqing Wang, Yuchen Xiao, Weixuan Huang +5Continual Learning Resilient Multi-Robot Coordination
National Key Laboratory of Novel Software Technology, Nanjing University, Nanjing, China · School of Artificial Intelligence, Nanjing University, Nanjing, China · Polixir Technologies, Nanjing, China
Higher Order Reasoning for Collaborative Communicationless Mobile Robot Operations
May 21, 2026Jonathan Reasoner, Nicola BezzoBelief-Space Planning Multi-Robot Motion Planning
Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA 22904, USA
Resilient Decentralized Ergodic Coverage for Scalable Multi-Robot Systems in Unknown Time-Varying Environments
Apr 5, 2026Maria G. Mendoza, Victoria Marie Tuck, Chinmay Maheshwari +1Multi-Robot Systems Exploration-Exploitation Tradeoff
Department of Mechanical Engineering, University of California, Berkeley, CA 94720, USA · Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA 19104, USA · Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD 21209, USA +1
BodyGuards: Escorting by Multiple Robots in Unknown Environment under Limited Communication
Mar 16, 2026Zhuoli Tian, Yanze Bao, Meng GuoResilient Multi-Robot Coordination Human-Robot Collaboration

Oct 9, 2026J/K move · Enter open · S save

Failure-Resilient Multi-Robot Coordination with $k$ -Connectivity Constrained Submodular Maximization

Yoonjae Hwang, Hojune Kim, Ellen Novoseller, Guangyao Shi+1

School of Computer Science, University of Southern California, Los Angeles, CA, USA · U.S. Army DEVCOM Army Laboratory

Resilient Multi-Robot Coordination Multi-Robot Coordination Submodular Optimization

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Multi-robot coordination is essential in applications such as coverage, target tracking, and information gathering, where robots must jointly select actions to maximize team performance. Submodular maximization provides an effective framework for such coordination, and resilient variants further account for robot failures or adversarial removals. However, existing methods typically overlook the impact of robot loss on the communication network, which may disconnect the surviving team and prevent continued coordination. To address this issue, we introduce Resilient

k

-Connected Submodular Maximization, which jointly considers task performance, resilience, and communication connectivity. The resulting feasible family is not a matroid, preventing the direct application of classical curvature-greedy guarantees. We overcome this challenge through a Menger-based connectivity reduction, a connectivity-aware greedy algorithm with a feasibility-preserving fallback, and a new curvature-based analysis that captures the cost of enforcing connectivity through a single factor

ρ

. Our method achieves a worst-case post-failure objective within a factor of

[\max(1-ν_f(\mathcal{I}),h(N,β))]^2 ρ\frac{1}{κ_f}(1-e^{-κ_f})

of the optimal connectivity-respecting resilient assignment, while recovering the classical unconstrained guarantee in the appropriate limits. Experiments on multi-robot target tracking validate the proposed method and characterize the practical impact of connectivity constraints.