Min-Max Regret Task Allocation and Planning of Heterogeneous Multi-Robot System in Partially Known Environments

Efficient task allocation for large-scale Heterogeneous Multi-Robot Systems (HMRS) is critical, yet dealing with complex temporal logic tasks in partially known environment (PKE) remains a computational bottleneck. Existing approaches often struggle to balance exploring uncertain regions and exploiting known resources, while also suffering from exponential computational complexity. To address these issues, this paper presents a robust planning framework that simultaneously handles high-level logical constraints and environmental uncertainty without sacrificing scalability. We formulate the problem as a min-max regret optimization, proposing a Region-Binding Atomic Proposition (RbAP) to capture resource uncertainty within the automaton structure. To solve this, we propose the Extended Planning Decision Tree (E-PDT) equipped with a novel Regret-based Branch-and-Bound (BnB) strategy. Unlike traditional methods that rely on prior probabilities or worst-case analysis, our approach dynamically prunes suboptimal policies, effectively balancing the need for information gathering (exploration) and task completion (exploitation). Theoretical analysis confirms the feasibility and completeness of our approach. Extensive numerical and physical experiments demonstrate that the proposed framework achieves near-linear scalability with respect to the number of robots and types, significantly outperforming MILP-based baselines in both solution quality and computational efficiency.

EAROL: Environmental Augmented Perception-Aware Planning and Robust Odometry via Downward-Mounted Tilted LiDAR

To address the challenges of localization drift and perception-planning coupling in unmanned aerial vehicles (UAVs) operating in open-top scenarios (e.g., collapsed buildings, roofless mazes), this paper proposes EAROL, a novel framework with a downward-mounted tilted LiDAR configuration (20{\deg} inclination), integrating a LiDAR-Inertial Odometry (LIO) system and a hierarchical trajectory-yaw optimization algorithm. The hardware innovation enables constraint enhancement via dense ground point cloud acquisition and forward environmental awareness for dynamic obstacle detection. A tightly-coupled LIO system, empowered by an Iterative Error-State Kalman Filter (IESKF) with dynamic motion compensation, achieves high level 6-DoF localization accuracy in feature-sparse environments. The planner, augmented by environment, balancing environmental exploration, target tracking precision, and energy efficiency. Physical experiments demonstrate 81% tracking error reduction, 22% improvement in perceptual coverage, and near-zero vertical drift across indoor maze and 60-meter-scale outdoor scenarios. This work proposes a hardware-algorithm co-design paradigm, offering a robust solution for UAV autonomy in post-disaster search and rescue missions. We will release our software and hardware as an open-source package for the community. Video: https://youtu.be/7av2ueLSiYw.

Flexible Physical Camouflage Generation Based on a Differential Approach

This study introduces a novel approach to neural rendering, specifically tailored for adversarial camouflage, within an extensive 3D rendering framework. Our method, named FPA, goes beyond traditional techniques by faithfully simulating lighting conditions and material variations, ensuring a nuanced and realistic representation of textures on a 3D target. To achieve this, we employ a generative approach that learns adversarial patterns from a diffusion model. This involves incorporating a specially designed adversarial loss and covert constraint loss to guarantee the adversarial and covert nature of the camouflage in the physical world. Furthermore, we showcase the effectiveness of the proposed camouflage in sticker mode, demonstrating its ability to cover the target without compromising adversarial information. Through empirical and physical experiments, FPA exhibits strong performance in terms of attack success rate and transferability. Additionally, the designed sticker-mode camouflage, coupled with a concealment constraint, adapts to the environment, yielding diverse styles of texture. Our findings highlight the versatility and efficacy of the FPA approach in adversarial camouflage applications.