Related papers: Delay Induced Swarm Pattern Bifurcations in Mixed …
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are…
Swarm systems consist of large numbers of robots that collaborate autonomously. With an appropriate level of human control, swarm systems could be applied in a variety of contexts ranging from search-and-rescue situations to Cyber defence.…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
Swarming behavior, where coherent motion emerges from the interactions of many mobile agents, is ubiquitous in physics and biology. Moreover, there are many efforts to replicate swarming dynamics in mobile robotic systems which take…
We investigated the effect of time delays on phase configurations in a set of two-dimensional coupled phase oscillators. Each oscillator is allowed to interact with its neighbors located within a finite radius, which serves as a control…
Collective motions emerging from the interaction of autonomous mobile individuals play a key role in many phenomena, from the growth of bacterial colonies to the coordination of robotic swarms. For these collective behaviours to take hold,…
A teleoperated swarm must follow the unpredictable commands of its human operator while remaining connected. When the swarm communications are limited by distance and affected by delays, both the user input and the transmission delays…
This paper analyzes consensus in multi-agent systems under uniform and nonuniform communication delays, a key challenge in distributed coordination with applications to robotic swarms. It investigates the convergence of a consensus…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
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…
Dynamical systems with complex delayed interactions arise commonly when propagation times are significant, yielding complicated oscillatory instabilities. In this Letter, we introduce a class of systems with multiple, hierarchically long…
Unraveling the nature of the communication model that governs which two individuals in a swarm interact with each other is an important line of inquiry in the collective behavior sciences. A number of models have been proposed in the…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
Swarming patterns that emerge from the interaction of many mobile agents are a subject of great interest in fields ranging from biology to physics and robotics. In some application areas, multiple swarms effectively interact and collide,…
Delayed interactions are a common property of coupled natural systems and therefore arise in a variety of different applications. For instance, signals in neural or laser networks propagate at finite speed giving rise to delayed…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Real-world systems can be strongly influenced by time delays occurring in self-coupling interactions, due to unavoidable finite signal propagation velocities. When the delays become significantly long, complicated high-dimensional phenomena…