Related papers: A Distributed Pipeline for Scalable, Deconflicted …

This paper is devoted to the analysis and resolution of a pathological phenomenon in airplane encounters called blocking mode. As autonomy in airplane systems increases, a pathological phenomenon can be observed in two-aircraft encounter…

This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…

We consider the coordinated vehicle platooning problem on a tree network with time constraints while the routes of vehicles are given. The problem is to coordinate the departure time of each vehicle to enable platoon formation hence…

A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…

This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC)…

Formation and collision avoidance abilities are essential for multi-agent systems. Conventional methods usually require a central controller and global information to achieve collaboration, which is impractical in an unknown environment. In…

Cooperative coordination at unsignalized road intersections, which aims to improve the driving safety and traffic throughput for connected and automated vehicles, has attracted increasing interests in recent years. However, most existing…

This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…

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…

We consider the fuel-optimal coordination of trucks into platoons. Truck platooning is a promising technology that enables trucks to save significant amounts of fuel by driving close together and thus reducing air drag. We study how…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models are effective in predicting long-horizon state trajectories…

Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…

Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…

Platooning is a promising cooperative driving application for future intelligent transportation systems. In order to assign vehicles to platoons, some algorithm for platoon formation is required. Such vehicle-to-platoon assignments have to…

For solving problems from the domain of Mobility-on-Demand (MoD), we often need to connect vehicle plans into plans spanning longer time, a process we call plan chaining. As we show in this work, chaining of the plans can be used to reduce…

This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…