Related papers: Ergodic Specifications for Flexible Swarm Control:…
A leader-follower framework is proposed for multi-robot navigation of large scale teams where the leader agents corral the follower agents. A group of leaders is modeled as a 2D deformable object where discrete masses (i.e., leader robots)…
In this paper, we present a reinforcement learning approach to designing a control policy for a "leader" agent that herds a swarm of "follower" agents, via repulsive interactions, as quickly as possible to a target probability distribution…
Embodied agents face significant challenges when tasked with performing actions in diverse environments, particularly in generalizing across object types and executing suitable actions to accomplish tasks. Furthermore, agents should exhibit…
Robot swarms hold immense potential for performing complex tasks far beyond the capabilities of individual robots. However, the challenge in unleashing this potential is the robots' limited sensory capabilities, which hinder their ability…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…
In this paper, we propose a computationally efficient, robust density control strategy for the mean-field model of a robotic swarm. We formulate a static optimal control problem (OCP) that computes a robot velocity field which drives the…
Recent methods in ergodic coverage planning have shown promise as tools that can adapt to a wide range of geometric coverage problems with general constraints, but are highly sensitive to the numerical scaling of the problem space. The…
In this study, we present a novel swarm-based approach for generating optimized stress-aligned trajectories for 3D printing applications. The method utilizes swarming dynamics to simulate the motion of virtual agents along the stress…
Interacting individuals in complex systems often give rise to coherent motion exhibiting coordinated global structures. Such phenomena are ubiquitously observed in nature, from cell migration, bacterial swarms, animal and insect groups, and…
In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…
We present a number of powerful local mechanisms for maintaining a dynamic swarm of robots with limited capabilities and information, in the presence of external forces and permanent node failures. We propose a set of local continuous…
The control of collective robotic systems, such as drone swarms, is often delegated to autonomous navigation algorithms due to their high dimensionality. However, like other robotic entities, drone swarms can still benefit from being…
Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically…
Autonomous edge computing in robotics, smart cities, and autonomous vehicles relies on the seamless integration of sensing, processing, and actuation for real-time decision-making in dynamic environments. At its core is the…
We consider optimal swarm control problems where two different classes of agents are present. Continuum idealizations of large-scale swarms are used where the dynamics describe the evolution of the spatially-distributed densities of each…
This research paper addresses the challenges of exploration and navigation in unknown environments from an evolutionary swarm robotics perspective. Path formation plays a crucial role in enabling cooperative swarm robots to accomplish these…
Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…
We seek methods to model, control, and analyze robot teams performing environmental monitoring tasks. During environmental monitoring, the goal is to have teams of robots collect various data throughout a fixed region for extended periods…
We propose a system to deliver dynamic guidance in drawing, sketching and handwriting tasks via an electromagnet moving underneath a high refresh rate pressure sensitive tablet. The system allows the user to move the pen at their own pace…
We present a game benchmark for testing human-swarm control algorithms and interfaces in a real-time, high-cadence scenario. Our benchmark consists of a swarm vs. swarm game in a virtual ROS environment in which the goal of the game is to…