Related papers: SwarmPaint: Human-Swarm Interaction for Trajectory…
Interacting individuals in complex systems often give rise to coherent motion exhibiting coordinated global structures. Such phenomena are ubiquitously observed in nature, from cell migration, bacterial swarms, animal and insect groups, and…
Text-conditioned motion synthesis has made remarkable progress with the emergence of diffusion models. However, the majority of these motion diffusion models are primarily designed for a single character and overlook multi-human…
Despite progress developing experimentally-consistent models of insect in-flight sensing and feedback for individual agents, a lack of systematic understanding of the multi-agent and group performance of the resulting bio-inspired sensing…
We present a novel approach for long-term human trajectory prediction in indoor human-centric environments, which is essential for long-horizon robot planning in these environments. State-of-the-art human trajectory prediction methods are…
Large-scale swarm robotic systems consisting of numerous cooperative agents show considerable promise for performing autonomous tasks across various sectors. Nonetheless, traditional motion planning approaches often face a trade-off between…
Autonomous modeling of artificial swarms is necessary because manual creation is a time intensive and complicated procedure which makes it impractical. An autonomous approach employing deep reinforcement learning is presented in this study…
Modelling biological or engineering swarms is challenging due to the inherently high dimension of the system, despite the often low-dimensional emergent dynamics. Most existing swarm modelling approaches are based on first principles and…
Swarms of unmanned aerial vehicles (UAVs) are increasingly becoming vital to our society, undertaking tasks such as search and rescue, surveillance and delivery. A special variant of Distributed Model Predictive Control (DMPC) has emerged…
As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…
We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability…
This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where…
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…
Visual traversability estimation is critical for autonomous navigation, but existing VLM-based methods rely on hand-crafted prompts, generalize poorly across embodiments, and output only traversability maps, leaving trajectory generation to…
Traditional Human-Swarm Interaction (HSI) methods often lack intuitive real-time adaptive interfaces, making decision making slower and increasing cognitive load while limiting command flexibility. To solve this, we present SwarmChat, a…
In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between…
We present GASPACHO, a method for generating photorealistic, controllable renderings of human-object interactions from multi-view RGB video. Unlike prior work that reconstructs only the human and treats objects as background, GASPACHO…
One of the major motifs in collective or swarm intelligence is that, even though individuals follow simple rules, the resulting global behavior can be complex and intelligent. In artificial swarm systems, such as swarm robots, the goal is…
Flapping-wing drones have attracted significant attention due to their biomimetic flight. They are considered more human-friendly due to their characteristics such as low noise and flexible wings, making them suitable for human-drone…
Principle of Swarm Intelligence has recently found widespread application in formation control and automated tracking by the automated multi-agent system. This article proposes an elegant and effective method inspired by foraging dynamics…
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…