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Collective perception is a key aspect for autonomous driving in smart cities as it aims to combine the local environment models of multiple intelligent vehicles in order to overcome sensor limitations. A crucial part of multi-sensor fusion…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…
Coalitional control is concerned with the management of multi-agent systems where cooperation cannot be taken for granted (due to, e.g., market competition, logistics). This paper proposes a model predictive control (MPC) framework aimed at…
Multiple Object Tracking (MOT) has rapidly progressed in recent years. Existing works tend to design a single tracking algorithm to perform both detection and association. Though ensemble learning has been exploited in many tasks, i.e,…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
Cooperative driving using connectivity services has been a promising avenue for autonomous vehicles, with the low latency and further reliability support provided by 5th Generation Mobile Network (5G). In this paper, we present an…
This paper explores cooperative trajectory planning approaches within the context of human-machine shared control. In shared control research, it is typically assumed that the human and the automation use the same reference trajectory to…
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
There has been substantial recent progress on the theoretical understanding of model-free approaches to Linear Quadratic Regulator (LQR) problems. Much attention has been devoted to the special case when the goal is to drive the state close…
In this paper, two cooperative guidance laws based on the area around the target of multiattackers are designed to deal with the problem of cooperative encirclement or simultaneous attack in the case of known target acceleration and unknown…
We study the reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial symmetry breaking cost functions for continuous-time and discrete-time systems. We…
Multi-Object Tracking (MOT) plays a crucial role in autonomous driving systems, as it lays the foundations for advanced perception and precise path planning modules. Nonetheless, single agent based MOT lacks in sensing surroundings due to…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
Most recent works on multi-target tracking with multiple cameras focus on centralized systems. In contrast, this paper presents a multi-target tracking approach implemented in a distributed camera network. The advantages of distributed…
We investigate several coordinate systems and dynamical vector fields for target tracking to be used in driver assistance systems. We show how to express the discrete dynamics of maneuvering target vehicles in arbitrary coordinates starting…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Gradient descent methods have been widely used for organizing multi-agent systems, in which they can provide decentralized control laws with provable convergence. Often, the control laws are designed so that two neighboring agents…
This paper presents a three dimensional collision avoidance approach for aerial vehicles inspired by coordinated behaviors in biological groups. The proposed strategy aims to enable a group of vehicles to converge to a common destination…
Vehicle-to-anything connectivity, especially for autonomous vehicles, promises to increase passenger comfort and safety of road traffic, for example, by sharing perception and driving intention. Cooperative maneuver planning uses…