Related papers: Distributed Control of Truss Robots Using Consensu…
In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the…
Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning methods, e.g., holistic trajectory…
We propose a distributed optimization method for solving a distributed model predictive consensus problem. The goal is to design a distributed controller for a network of dynamical systems to optimize a coupled objective function while…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
This paper presents LEMURS, an algorithm for learning scalable multi-robot control policies from cooperative task demonstrations. We propose a port-Hamiltonian description of the multi-robot system to exploit universal physical constraints…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
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…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…
In this Letter we propose a method to control a set of arbitrary nodes in a directed network such that they follow a synchronous trajectory which is, in general, not shared by the other units of the network. The problem is inspired to those…
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…
A novel distributed algorithm is proposed for finite-time converging to a feasible consensus solution satisfying global optimality to a certain accuracy of the distributed robust convex optimization problem (DRCO) subject to bounded…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…
This paper presents a novel accelerated distributed algorithm for unconstrained consensus optimization over static undirected networks. The proposed algorithm combines the benefits of acceleration from momentum, the robustness of the…