Related papers: Bird Flocking Inspired Control Strategy for Multi-…
The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
The study of robotic flocking has received significant attention in the past twenty years. In this article, we present a constraint-driven control algorithm that minimizes the energy consumption of individual agents and yields an emergent V…
The development of unmanned aerial vehicles (UAVs) has been gaining momentum in recent years owing to technological advances and a significant reduction in their cost. UAV technology can be used in a wide range of domains, including…
The recent progress in unmanned aerial vehicles (UAV) technology has significantly advanced UAV-based applications for military, civil, and commercial domains. Nevertheless, the challenges of establishing high-speed communication links,…
In this paper, we consider multiple mobile agents moving in Euclidean space with point mass dynamics. Using a coordination control scheme, we can make the group generate stable flocking motion. The control laws are a combination of…
This paper systematically studies the cooperative area coverage and target tracking problem of multiple-unmanned aerial vehicles (multi-UAVs). The problem is solved by decomposing into three sub-problems: information fusion, task…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…
Collective migration of animals in a cohesive group is rendered possible by a strategic distribution of tasks among members: some track the travel route, which is time and energy-consuming, while the others follow the group by interacting…
The rapid development of Unmanned aerial vehicles (UAVs) technology has spawned a wide variety of applications, such as emergency communications, regional surveillance, and disaster relief. Due to their limited battery capacity and…
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…
Flocking behavior has attracted considerable attention in multi-agent systems. The structure of flocking has been predominantly studied through the application of artificial potential fields coupled with velocity consensus. These…
This paper addresses the problem of target detection and localisation in a limited area using multiple coordinated agents. The swarm of Unmanned Aerial Vehicles (UAVs) determines the position of the dispersion of stack effluents to a gas…
Understanding self-organization in natural collectives such as bird flocks inspires swarm robotics, yet most flocking models remain reactive, overlooking anticipatory cues that enhance coordination. Motivated by avian postural and wingbeat…
The distributed flocking control of collective aerial vehicles has extraordinary advantages in scalability and reliability, \emph{etc.} However, it is still challenging to design a reliable, efficient, and responsive flocking algorithm. In…
The vision-based relative localization can provide effective feedback for the cooperation of aerial swarm and has been widely investigated in previous works. However, the limited field of view (FOV) inherently restricts its performance. To…
This paper investigates the control of a massive population of UAVs such as drones. The straightforward method of control of UAVs by considering the interactions among them to make a flock requires a huge inter-UAV communication which is…
This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from…
This paper presents a data-driven approach to learning vision-based collective behavior from a simple flocking algorithm. We simulate a swarm of quadrotor drones and formulate the controller as a regression problem in which we generate 3D…