Related papers: Ergodic Specifications for Flexible Swarm Control:…

We present a method for controlling a swarm using its spectral decomposition -- that is, by describing the set of trajectories of a swarm in terms of a spatial distribution throughout the operational domain -- guaranteeing scale invariance…

This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…

Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, whereas in practice a robot interacts with the environment…

We present a decentralized ergodic control policy for time-varying area coverage problems for multiple agents with nonlinear dynamics. Ergodic control allows us to specify distributions as objectives for area coverage problems for nonlinear…

More widespread adoption requires swarms of robots to be more flexible for real-world applications. Multiple challenges remain in complex scenarios where a large amount of data needs to be processed in real-time and high degrees of…

In this article, we present a feedback control method for tactile coverage tasks, such as cleaning or surface inspection. These tasks are challenging to plan due to complex continuous physical interactions. In these tasks, the coverage…

Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…

This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic…

In this paper, we present a systematic method of design for human-swarm interaction interfaces, combining theoretical insights with empirical evaluation. We first derived ten design principles from existing literature, applying them to key…

This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where…

Achieving scalable coordination in large robotic swarms is often constrained by reliance on inter-agent communication, which introduces latency, bandwidth limitations, and vulnerability to failure. To address this gap, a decentralized…

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…

Autonomous robotic exploration in remote and extreme environments allows scientists to model complex transport phenomena and collective behaviors described by continuously deforming flow fields. Although these environments are naturally…

Designing continuous trajectories whose time-averaged occupancy provably matches a prescribed spatial density (the \emph{ergodic coverage} problem) is central to UAV-assisted data collection and sensing, robotic exploration, and mobile…

This research addresses the challenge of performing search missions in dynamic environments, particularly for drifting targets whose movement is dictated by a flow field. This is accomplished through a dynamical system that integrates two…

In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…

In this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range…

This paper presents a whole-body robot control method for exploring and probing a given region of interest. The ergodic control formalism behind such an exploration behavior consists of matching the time-averaged statistics of a robot…

Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…

Although a number of solutions exist for the problems of coverage, search and target localization---commonly addressed separately---whether there exists a unified strategy that addresses these objectives in a coherent manner without being…