Related papers: Robotic Swarm Control from Spatio-Temporal Specifi…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Micro robotics is quickly emerging to be a promising technological solution to many medical treatments with focus on targeted drug delivery. They are effective when working in swarms whose individual control is mostly infeasible owing to…
In the literature, a distributed consensus protocol by which a connected swarm of agents can generate artistic patterns in 2-dimensional space is proposed. Motivated by this protocol, in this paper, we design the parameters of this protocol…
A leader-follower framework is proposed for multi-robot navigation of large scale teams where the leader agents corral the follower agents. A group of leaders is modeled as a 2D deformable object where discrete masses (i.e., leader robots)…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…
Swarm robotics promises adaptability to unknown situations and robustness against failures. However, it still struggles with global tasks that require understanding the broader context in which the robots operate, such as identifying the…
We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…
This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design an end-to-end pipeline from a tactile tablet interface for…
The human brain's plasticity allows for the integration of artificial body parts into the human body. Leveraging this, embodied systems realize intuitive interactions with the environment. We introduce a novel concept: embodied swarm…
Robot swarms promise scalable assistance in complex and hazardous environments. Task planning lies at the core of human-swarm collaboration, translating the operator's intent into coordinated swarm actions and helping determine when…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches have made significant progress, they often focus on improving…
This paper addresses a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain…
In this paper, we present a heterogeneous robot swarm system that can physically couple with each other to form functional structures and dynamically decouple to perform individual tasks. The connection between robots can be formed with a…
In this paper we describe a novel local algorithm for large statistical swarms using "harmonic attractor dynamics", by means of which a swarm can construct harmonics of the environment. This in turn allows the swarm to approximately…
Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…
In this paper, we propose a computationally efficient, robust density control strategy for the mean-field model of a robotic swarm. We formulate a static optimal control problem (OCP) that computes a robot velocity field which drives the…