Related papers: Flocking algorithm for autonomous flying robots
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be…
Decentralized control in multi-robot systems is dependent on accurate and reliable communication between agents. Important communication factors, such as latency and packet delivery ratio, are strong functions of the number of agents in the…
When a large number of robots try to reach a common area, congestions happen, causing severe delays. To minimise congestion in a robotic swarm system, traffic control algorithms must be employed in a decentralised manner. Based on…
The aim of the present paper is to elucidate the transition from collective to random behavior exhibited by various mathematical models of bird flocking. In particular, we compare Vicsek's model [Viscek et al., Phys. Rev. Lett. 75, 1226 --…
Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms…
This study considers the control of parent-child systems where a parent system is acted on by a set of controllable child systems (i.e. a swarm). Examples of such systems include a swarm of robots pushing an object over a surface, a swarm…
Swarms are highly robust systems that offer unique benefits compared to their alternatives. In this work, we propose a bio-inspired and artificial potential field-driven robot swarm control method, where the swarm formation dynamics are…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
Robotic shepherding problem considers the control and navigation of a group of coherent agents (e.g., a flock of bird or a fleet of drones) through the motion of an external robot, called shepherd. Machine learning based methods have…
The well-known Cucker-Smale model is a macroscopic system reflecting flocking, i.e. the alignment of velocities in a group of autonomous agents having mutual interactions. In the present paper, we consider the mean-field limit of that…
Natural flocks (aligned) and swarms (non-aligned) both exhibit features of near-criticality, challenging their treatment as two ends of the same phase transition. We present a model for the aggregation of active individuals, in which their…
Understanding self-organization in natural collectives such as bird flocks inspires swarm robotics, yet most flocking models remain reactive, overlooking anticipatory cues that enhance coordination. Motivated by avian postural and wingbeat…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
This article presents the world's first rapid drone flocking control using natural language through generative AI. The described approach enables the intuitive orchestration of a flock of any size to achieve the desired geometry. The key…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
Flocking control is essential for multi-robot systems in diverse applications, yet achieving efficient flocking in congested environments poses challenges regarding computation burdens, performance optimality, and motion safety. This paper…
To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have…
A novel approach for achieving fast evasion in self-localized swarms of Unmanned Aerial Vehicles (UAVs) threatened by an intruding moving object is presented in this paper. Motivated by natural self-organizing systems, the presented…