Related papers: Energy-Optimal Motion Planning for Agents: Barycen…
Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance.…
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…
Reliable automated driving technology is challenged by various sources of uncertainties, in particular, behavioral uncertainties of traffic agents. It is common for traffic agents to have intentions that are unknown to others, leaving an…
Adaptive structures are equipped with sensors and actuators to actively counteract external loads such as wind. This can significantly reduce resource consumption and emissions during the life cycle compared to conventional structures. A…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
Consider a consensus-driven multi-agent dynamic system. The interaction range, which defines the set of neighbors for each agent, plays a key role in influencing connectivity of the underlying network. In this paper, we assume the system is…
We investigate a Cucker-Smale-type flocking model for multi-agent systems that move with constant speed. The model incorporates both kinematic observables and internal energy (temperatures) in the agents' interactions. Traditionally,…
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…
This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal…
Minimising the energy consumption associated with periodic motion is a priority common to a wide range of technologies and organisms - among them, many species of flying insect, for which flapping-wing flight is a life-essential mode of…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…
We introduce a method called MASCOT (Multi-Agent Shape Control with Optimal Transport) to compute optimal control solutions of agents with shape/formation/density constraints. For example, we might want to apply shape constraints on the…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
Uncertainty is prevalent in robotics. Due to measurement noise and complex dynamics, we cannot estimate the exact system and environment state. Since conservative motion planners are not guaranteed to find a safe control strategy in a…
We theoretically and numerically study the problem of optimal control of large-scale autonomous systems under explicitly adversarial conditions, including probabilistic destruction of agents during the simulation. Large-scale autonomous…
Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme…
This paper addresses the persistent monitoring problem defined on a network where a set of nodes (targets) needs to be monitored by a team of dynamic energy-aware agents. The objective is to control the agents' motion to jointly optimize…
Optimal transport (OT) and Schr{\"o}dinger bridge (SB) problems have emerged as powerful frameworks for transferring probability distributions with minimal cost. However, existing approaches typically focus on endpoint matching while…
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission…