Related papers: Cellular Formation Maintenance and Collision Avoid…
We present a novel, decentralized collision avoidance algorithm for navigating a swarm of quadrotors in dense environments populated with static and dynamic obstacles. Our algorithm relies on the concept of Optimal Reciprocal…
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…
The escalating accumulation of orbital debris threatens the sustainability of space operations, necessitating active removal solutions that overcome the limitations of current fuel-dependent methods. To address this, this study introduces a…
Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms…
Given the importance of forests and their role in maintaining the ecological balance, which directly affects the planet, the climate, and the life on this planet, this research presents the problem of forest fire monitoring using drones.…
Distributed sensing by cooperative drone swarms is crucial for several Smart City applications, such as traffic monitoring and disaster response. Using an indoor lab with inexpensive drones, a testbed supports complex and ambitious studies…
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 novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
Drone swarms coupled with data intelligence can be the future of wildfire fighting. However, drone swarm firefighting faces enormous challenges, such as the highly complex environmental conditions in wildfire scenes, the highly dynamic…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
The interaction topology is critical for efficient cooperation of mobile robotic networks (MRNs). We focus on the local topology inference problem of MRNs under formation control, where an inference robot with limited observation range can…
Coordinated motion control in swarm robotics aims to ensure the coherence of members in space, i.e., the robots in a swarm perform coordinated movements to maintain spatial structures. This problem can be modeled as a tracking control…
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…
Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…
This work presents a multi-sensory anti-collision system design to achieve robust autonomous exploration capabilities for a swarm of 10 cm-side nano-drones operating on object detection missions. We combine lightweight single-beam laser…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
As the orbital environment around Earth becomes increasingly crowded with debris, active debris removal (ADR) missions face significant challenges in ensuring safe operations while minimizing the risk of in-orbit collisions. This study…