Related papers: Distributed Circumnavigation Control with Dynamic …
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…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
In this paper, we propose a coverage control system for a multi-robot team with heterogeneous capabilities to patrol or monitor a bounded environment. The capability could be defined as any criterion of robots like remaining power or mobile…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
Robot navigation in dynamic environments shared with humans is an important but challenging task, which suffers from performance deterioration as the crowd grows. In this paper, multi-subgoal robot navigation approach based on deep…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…