Related papers: Constant Bearing Pursuit on Branching Graphs
A key problem in constrained random verification (CRV) concerns generation of input stimuli that result in good coverage of the system's runs in targeted corners of its behavior space. Existing CRV solutions however provide no formal…
Measurement samples are often taken in various monitoring applications. To reduce the sensing cost, it is desirable to achieve better sensing quality while using fewer samples. Compressive Sensing (CS) technique finds its role when the…
Co-manipulation requires multiple humans to synchronize their motions with a shared object while ensuring reasonable interactions, maintaining natural poses, and preserving stable states. However, most existing motion generation approaches…
In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal control problem where the agents minimize…
We develop a tracking model predictive control (MPC) scheme for nonlinear systems using the linearized dynamics at the current state as a prediction model. Under reasonable assumptions on the linearized dynamics, we prove that the proposed…
Planning safe robot motions in the presence of humans requires reliable forecasts of future human motion. However, simply predicting the most likely motion from prior interactions does not guarantee safety. Such forecasts fail to model the…
In this paper, we present a model describing the collective motion of birds. The model introduces spontaneous changes in direction which are initialized by few agents, here referred as leaders, whose influence act on their nearest…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Symmetries are an essential feature of complex networks as they regulate how the graph collective dynamics organizes into clustered states. We here show how to control network symmetries, and how to enforce patterned states of…
Social group detection is a crucial aspect of various robotic applications, including robot navigation and human-robot interactions. To date, a range of model-based techniques have been employed to address this challenge, such as the…
This paper studies the problem of multi-robot pursuit of how to coordinate a group of defending robots to capture a faster attacker before it enters a protected area. Such operation for defending robots is challenging due to the unknown…
AI tasks differ in complexity and are best addressed with different computation strategies (e.g., combinations of models and decoding methods). Hence, an effective routing system that maps tasks to the appropriate strategies is crucial.…
A standard belief on emerging collective behavior is that it emerges from simple individual rules. Most of the mathematical research on such collective behavior starts from imperative individual rules, like always go to the center. But how…
This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…
Path-following algorithms are frequently used in composite optimization problems where a series of subproblems, with varying regularization hyperparameters, are solved sequentially. By reusing the previous solutions as initialization,…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
In a given scenario, simultaneously and accurately predicting every possible interaction of traffic participants is an important capability for autonomous vehicles. The majority of current researches focused on the prediction of an single…
The goal of this work is to propose an extension of the popular leader-follower framework for multi-agent collective tracking and formation maintenance in presence of a time- varying leader. In particular, the leader is persistently…
Forecasting human trajectories is critical for tasks such as robot crowd navigation and autonomous driving. Modeling social interactions is of great importance for accurate group-wise motion prediction. However, most existing methods do not…