Related papers: Outdoor flocking and formation flight with autonom…
Flocks of birds, schools of fish, insects swarms are examples of coordinated motion of a group that arises spontaneously from the action of many individuals. Here, we study flocking behavior from the viewpoint of multi-agent reinforcement…
The study of the movement of flocks, whether biological or technological is motivated by the desire to understand the capability of coherent motion of a large number of agents that only receive very limited information. In a biological…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…
Collective control of mobile microrobotic swarms is indispensable for their potential high-impact applications in targeted drug delivery, medical diagnostics, parallel micromanipulation, and environmental sensing and remediation. Lack of…
This paper presents an algorithm for a team of mobile robots to simultaneously learn a spatial field over a domain and spatially distribute themselves to optimally cover it. Drawing from previous approaches that estimate the spatial field…
Decentralized air traffic management requires coordination among self-interested stakeholders operating under shared safety and capacity constraints, where conventional centralized or implicitly cooperative models do not adequately capture…
Starting from recent experimental observations of starlings and jackdaws, we propose a minimal agent-based mathematical model for bird flocks based on a system of second-order delayed stochastic differential equations with discontinuous…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
Large swarms of autonomous devices are increasing in size and importance. When it comes to controlling the devices of large-scale swarms there are two main lines of thought. Centralized control, where all decisions - and often compute -…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…
Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key…
Long arrays of identical, self-propelling flapping flyers are inherently unstable and thus unlikely to exist without active control mechanisms. One approach to enable long in-line formations is to enforce a constant separation between the…
We bound the time it takes for a group of birds to reach steady state in a standard flocking model. We prove that (i) within single exponential time fragmentation ceases and each bird settles on a fixed flying direction; (ii) the flocking…
The cohesive collective motion (flocking, swarming) of autonomous agents is ubiquitously observed and exploited in both natural and man-made settings, thus, minimal models for its description are essential. In a model with continuous space…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
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…
Representation and control of the dynamics of stigmergic substances used by bio-inspired approaches is a challenge when applied to robotics. In order to overcome this challenge, this work proposes a model to coordinate swarms of robots…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…