Related papers: Communication-free Cohesive Flexible-Object Transp…

Shape deformation is an important component in any geometry processing toolbox. The goal is to enable intuitive deformations of single or multiple shapes or to transfer example deformations to new shapes while preserving the plausibility of…

Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…

This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…

The movement of cooperative robots in a densely cluttered environment may not be possible if the formation type is invariant. Hence, we investigate a new method for time-varying formation control for a group of heterogeneous autonomous…

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…

This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the…

An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…

We propose a system solution to achieve data-efficient, decentralized state estimation for a team of flying robots using thermal images and inertial measurements. Each robot can fly independently, and exchange data when possible to refine…

This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…

Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…

Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…

Unmanned aerial vehicles (UAV) or drones play many roles in a modern smart city such as the delivery of goods, mapping real-time road traffic and monitoring pollution. The ability of drones to perform these functions often requires the…

In distributed optimization and machine learning, multiple nodes coordinate to solve large problems. To do this, the nodes need to compress important algorithm information to bits so that it can be communicated over a digital channel. The…

We investigate the problem of pixelwise correspondence for deformable objects, namely cloth and rope, by comparing both classical and learning-based methods. We choose cloth and rope because they are traditionally some of the most difficult…

Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…

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…

Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…

This paper addresses the problem of cooperative target tracking using a heterogeneous multi-robot system, where the robots are communicating over a dynamic communication network, and heterogeneity is in terms of different types of sensors…