Related papers: Nonsmooth Control Barrier Function Design of Conti…
Connectivity maintenance is an essential aspect to consider while controlling a multi-robot system. In general, a multi-robot system should be connected to obtain a certain common objective. Connectivity must be kept regardless of the…
Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a collaborative way. A connectivity maintenance controller must…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
This paper proposes a novel data-driven control strategy for maintaining connectivity in networked multi-robot systems. Existing approaches often rely on a pre-determined communication model specifying whether pairwise robots can…
Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconnection topologies in multi-robot systems. In scenarios in…
In many cases the multi-robot systems are desired to execute simultaneously multiple behaviors with different controllers, and sequences of behaviors in real time, which we call \textit{behavior mixing}. Behavior mixing is accomplished when…
Connectivity maintenance plays a key role in achieving a desired global behavior among a swarm of robots. However, connectivity maintenance in realistic environments is hampered by lack of computation resources, low communication bandwidth,…
In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes…
Inter-robot communication enables multi-robot systems to coordinate and execute complex missions efficiently. Thus, maintaining connectivity of the communication network between robots is essential for many multi-robot systems. In this…
To perform cooperative tasks in a decentralized manner, multi-robot systems are often required to communicate with each other. Therefore, maintaining the communication graph connectivity is a fundamental issue when roaming a territory with…
In this paper we propose a control framework that enables robots to execute tasks persistently, i.e., over time horizons much longer than robots' battery life. This is achieved by ensuring that the energy stored in the batteries of the…
For a broad class of nonlinear systems, we formulate the problem of guaranteeing safety with optimality under constraints. Specifically, we define controlled safety for differential inclusions with constraints on the states and the inputs.…
State-of-the-art approaches to optimal control use smooth approximations of value and policy functions and gradient-based algorithms for improving approximator parameters. Unfortunately, we show that value and policy functions that arise in…
In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or…
In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous environments, and environmental monitoring. Coordination, in…
In this paper, we consider a team of mobile robots executing simultaneously multiple behaviors by different subgroups, while maintaining global and subgroup line-of-sight (LOS) network connectivity that minimally constrains the original…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints…