Related papers: Real-Time Deployment of a Large-Scale Multi-Quadco…

An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…

We consider a probabilistic model for large-scale task allocation problems for multi-agent systems, aiming to determine an optimal deployment strategy that minimizes the overall transport cost. Specifically, we assign transportation agents…

This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…

Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…

Satellite rendezvous and docking (RvD) maneuvers are essential for satellite servicing and in-orbit assembly. Traditional approaches often treat translational and rotational motions independently, simplifying control design but potentially…

This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…

To deal with the explosive growth of mobile traffic, millimeter-wave (mmWave) communications with abundant bandwidth resources have been applied to vehicular networks. As mmWave signal is sensitive to blockage, we introduce the unmanned…

Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…

Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexity arises due to the hybrid nonlinear walking dynamics…

We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…

A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…

In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…

The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…

The introduction of fully-actuated multirotors has opened the door to new possibilities and more efficient solutions to many real-world applications. However, their integration had been slower than expected, partly due to the need for new…

This paper studies the problem of affine transformation-based guidance of a multi-quadcopter system (MQS) in an obstacle-laden environment. Such MQSs can perform a variety of cooperative tasks including information collection, inspection…

For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory planning algorithm for a quadrotor swarm that operates…

This paper studies the problem of safe and optimal continuum deformation of a large-scale multi-agent system (MAS). We present a novel approach for MAS continuum deformation coordination that aims to achieve safe and efficient agent…

This study focuses on designing and developing a mathematically based quadcopter rotational dynamics simulation framework for testing reinforcement learning (RL) algorithms in many flexible configurations. The design of the simulation…

Communication delays can be catastrophic for multiagent systems. However, most existing state-of-the-art multiagent trajectory planners assume perfect communication and therefore lack a strategy to rectify this issue in real-world…

Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…