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Collaborative path planning for robot swarms in complex, unknown environments without external positioning is a challenging problem. This requires robots to find safe directions based on real-time environmental observations, and to…
This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements.…
In this letter, we present a constraint-driven optimal control framework that achieves emergent cluster flocking within a constrained 2D environment. We formulate a decentralized optimal control problem that includes safety, flocking, and…
Robotic shepherding is a bio-inspired approach to autonomously guiding a swarm of agents towards a desired location. The research area has earned increasing research interest recently due to the efficacy of controlling a large number of…
With the growing popularity of Unmanned Aerial Vehicles (UAVs) for consumer applications, the number of accidents involving UAVs is also increasing rapidly. Therefore, motion safety of UAVs has become a prime concern for UAV operators. For…
Multi-swarm systems, where two or more swarms of mobile agents occupy the same region of space with different parameters and goals, occur in a variety of biological, engineering, and defense applications. Composites of multiple swarms can…
Swarms are highly robust systems that offer unique benefits compared to their alternatives. In this work, we propose a bio-inspired and artificial potential field-driven robot swarm control method, where the swarm formation dynamics are…
Formation control problem is one of the most concerned topics within the realm of swarm intelligence, which is usually solved by conventional mathematical approaches. In this paper, however, we presents a metaheuristic approach that…
Detecting spoofing attacks on the positions of unmanned aerial vehicles (UAVs) within a swarm is challenging. Traditional methods relying solely on individually reported positions and pairwise distance measurements are ineffective in…
Multi-Agent Path Finding (MAPF) has gained significant attention, with most research focusing on minimizing collisions and travel time. This paper also considers energy consumption in the path planning of automated guided vehicles (AGVs).…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
The optimization of fuel-optimal low-thrust collision avoidance maneuvers (CAMs) in scenarios involving multiple encounters between spacecraft is addressed. The optimization's objective is the minimization of the total fuel consumption…
In this paper, we propose a swarming approach and optimize the one-hop delay for interplatoon communications through adjusting the minimum contention window size of each backbone vehicle in two steps. In the first step, we first set a small…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
Unmanned Aerial Vehicle (UAV) swarms adoption shows a steady growth among operators due to the benefits in time and cost arisen from their use. However, this kind of system faces an important problem which is the calculation of many optimal…
Efficient path planning for autonomous mobile robots is a critical problem across numerous domains, where optimizing both time and energy consumption is paramount. This paper introduces a novel methodology that considers the dynamic…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
Motion planning is an essential part of autonomous mobile platforms. A good pipeline should be modular enough to handle different vehicles, environments, and perception modules. The planning process has to cope with all the different…
We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity…