Related papers: Distributed Navigation of Multi-Robot Systems For …
We present a simple yet effective routing strategy inspired by coverage control, which delays the onset of congestion on traffic networks, by introducing a control parameter. The routing algorithm allows a trade-off between the congestion…
Spatial multi-agency has been receiving growing attention from researchers exploring many of the aspects and modalities of this phenomenon. The aim is to develop the theoretical background needed for a multitude of applications involving…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
Reinforcement learning (RL) has achieved remarkable success in complex robotic systems (eg. quadruped locomotion). In previous works, the RL-based controller was typically implemented as a single neural network with concatenated observation…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
We consider the problem of mass transport cloaking using mobile robots. The robots move along a predefined curve that encloses a safe zone and carry sources that collectively counteract a chemical agent released in the environment. The goal…
The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces significant challenges when some robots are lost or deviate from…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
State-of-the-art distributed algorithms for reinforcement learning rely on multiple independent agents, which simultaneously learn in parallel environments while asynchronously updating a common, shared policy. Moreover, decentralized…
Purpose of review: This paper reviews opportunities and challenges for decentralised control, change-detection, and learning in the context of resilient robot teams. Recent findings: Exogenous fault detection methods can provide a generic…
We present a novel reinforcement learning (RL) based task allocation and decentralized navigation algorithm for mobile robots in warehouse environments. Our approach is designed for scenarios in which multiple robots are used to perform…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
Decentralized cooperative localization (DCL) is a promising approach for nonholonomic mobile robots operating in GPS-denied environments with limited communication infrastructure. This paper presents a DCL framework in which each robot…