Related papers: Multi-robot motion-formation distributed control w…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…
We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…
This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the…
A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…
This paper proposes a novel maneuvering technique for the complex-Laplacian-based formation control. We show how to modify the original weights that build the Laplacian such that a designed steady-state motion of the desired shape emerges…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…
This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independent components, i.e., interception and enclosing, which are…
A novel multi-robot path planning approach is presented in this paper. Based on the standard Dijkstra, the algorithm looks for the optimal paths for a formation of robots, taking into account the possibility of split and merge. The…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
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…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Coordinated multi-robot navigation is an essential ability for a team of robots operating in diverse environments. Robot teams often need to maintain specific formations, such as wedge formations, to enhance visibility, positioning, and…
Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. However, most existing planners, whether classical or…
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…