Related papers: Multi-robot motion-formation distributed control w…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the…
In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a…
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…
Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot…
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…
Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers from guiding rigid formations of mobile agents to converge to…
In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
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…
This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
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.…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate relationships between the corresponding reference frames. For wheeled robots equipped with camera/lidar along…