Related papers: Connectivity-Preserving Swarm Teleoperation With A…
Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…
We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation for drones is challenging due to complex aerodynamic…
Unmanned aerial vehicles (UAVs) can serve as aerial base stations (BSs) to extend the ubiquitous connectivity for ground users (GUs) in the sixth-generation (6G) era. However, it is challenging to cooperatively deploy multiple UAV swarms in…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
Fine-grained, contact-rich teleoperation remains slow, error-prone, and unreliable in real-world manipulation tasks, even for experienced operators. Shared autonomy offers a promising way to improve performance by combining human intent…
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…
Swarms are highly robust systems that offer unique benefits compared to their alternatives. In this work, we propose a bio-inspired and artificial potential field-driven robot swarm control method, where the swarm formation dynamics are…
Movement primitives have the property to accommodate changes in the robot state while maintaining attraction to the original policy. As such, we investigate the use of primitives as a blending mechanism by considering that state deviations…
Most studies in swarm robotics treat the swarm as an isolated system of interest. We argue that the prevailing view of swarms as self-sufficient, independent systems limits the scope of potential applications for swarm robotics. A robot…
Intermittent faults are transient errors that sporadically appear and disappear. Although intermittent faults pose substantial challenges to reliability and coordination, existing studies of fault tolerance in robot swarms focus instead on…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
Robot swarms often exhibit emergent behaviors that are fascinating to observe; however, it is often difficult to predict what swarm behaviors can emerge under a given set of agent capabilities. We seek to efficiently leverage human input to…
In a multi-agent system, agents coordinate to achieve global tasks through local communications. Coordination usually requires sufficient information flow, which is usually depicted by the connectivity of the communication network. In a…
In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion…
In this work we consider three different cases of robot-robot interactions and resulting global information transfer in robot swarms. These mechanisms define cooperative properties of the system and can be used for designing collective…
To achieve a smooth and safe guiding of a drone formation by a human operator, we propose a novel interaction strategy for a human-swarm communication which combines impedance control and vibrotactile feedback. The presented approach takes…
Absolute stability of discrete-time teleoperation systems can be jeopardized by choosing inappropriate sampling time architecture. A modified structure is presented for the bilateral teleoperation system including continuous-time slave…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…