Related papers: Optimal Transport-based Coverage Control for Swarm…
Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm…
This paper presents a novel method for controlling teams of unmanned aerial vehicles using Stochastic Optimal Control (SOC) theory. The approach consists of a centralized high-level planner that computes optimal state trajectories as…
Optimal transport (OT) is attracting increasing attention in machine learning. It aims to transport a source distribution to a target one at minimal cost. In its vanilla form, the source and target distributions are predetermined, which…
We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be…
Current state of the art in the field of UAV activation relies solely on human operators for the design and adaptation of the drones' flying routes. Furthermore, this is being done today on an individual level (one vehicle per operators),…
In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids collisions with static obstacles, dynamic obstacles and other…
In search and surveillance applications in robotics, it is intuitive to spatially distribute robot trajectories with respect to the probability of locating targets in the domain. Ergodic coverage is one such approach to trajectory planning…
The Team Orienteering Problem (TOP) generalizes many real-world multi-robot scheduling and routing tasks that occur in autonomous mobility, aerial logistics, and surveillance applications. While many flavors of the TOP exist for planning in…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
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…
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…
This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…
Many municipalities and large organizations have fleets of vehicles that need to be coordinated for tasks such as garbage collection or infrastructure inspection. Motivated by this need, this paper focuses on the common subproblem in which…
In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal control problem where the agents minimize…
Future applications in environmental monitoring, delivery of services and transportation of goods motivate the study of deployment and partitioning tasks for groups of autonomous mobile agents. These tasks are achieved by recent coverage…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
This paper studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed…
Robotic swarm systems are now becoming increasingly attractive for many challenging applications. The main task for any robot is to reach the destination while keeping a safe separation from other robots and obstacles. In many scenarios,…
Covering a bounded region with minimum number of homogeneous sensor nodes is a NP-complete problem \cite{Li09}. In this paper we have proposed an {\it id} based distributed algorithm for optimal coverage in an unbounded region. The proposed…
Consider robot swarm wireless networks where mobile robots offload their computing tasks to a computing server located at the mobile edge. Our aim is to maximize the swarm lifetime through efficient exploitation of the correlation between…