Related papers: Decentralized Connectivity Maintenance for Multi-r…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
Semi-decentralized federated learning blends the conventional device to-server (D2S) interaction structure of federated model training with localized device-to-device (D2D) communications. We study this architecture over practical edge…
In this paper, we introduce a decentralized optimization-based density controller designed to enforce set invariance constraints in multi-robot systems. By designing a decentralized control barrier function, we derived sufficient conditions…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
Unlabeled motion planning involves assigning a set of robots to target locations while ensuring collision avoidance, aiming to minimize the total distance traveled. The problem forms an essential building block for multi-robot systems in…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Decentralized optimization with time-varying networks is an emerging paradigm in machine learning. It saves remarkable communication overhead in large-scale deep training and is more robust in wireless scenarios especially when nodes are…
We present a method for deadlock-free and collision-free navigation in a multi-robot system with nonholonomic robots. The problem is solved by quadratic programming and is applicable to most wheeled mobile robots with linear kinematic…
Multi-robot systems (MRSs) are valuable for tasks such as search and rescue due to their ability to coordinate over shared observations. A central challenge in these systems is aligning independently collected perception data across space…
Scheduling the maintenance based on the condition, respectively the degradation level of the system leads to improved system's reliability while minimizing the maintenance cost. Since the degradation level changes dynamically during the…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
We consider the problem of decentralized deep learning where multiple agents collaborate to learn from a distributed dataset. While there exist several decentralized deep learning approaches, the majority consider a central parameter-server…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
Discovering constants of motion is meaningful in helping understand the dynamical systems, but inevitably needs proficient mathematical skills and keen analytical capabilities. With the prevalence of deep learning, methods employing neural…
Characterization of the uncertainty in robotic manipulators is the focus of this paper. Based on the random matrix theory (RMT), we propose uncertainty characterization schemes in which the uncertainty is modeled at the macro (system)…
Collision avoidance for multirobot systems is a well studied problem. Recently, control barrier functions (CBFs) have been proposed for synthesizing controllers guarantee collision avoidance and goal stabilization for multiple robots.…
In lifelong multi-agent path finding (MAPF) with many robots, unreliable wireless links and stochastic executions are the norm. Existing approaches typically either rely on centralized planning under idealized communication, or run fully…
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…