Related papers: Direction-only Orientation Alignment of Leader-Fol…
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…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
Autonomous ground vehicles have been designed for the purpose of that relies on ranging and bearing information received from forward looking camera on the Formation control . A visual guidance control algorithm is designed where real time…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
In this paper we tackle the problem of routing multiple agents in a coordinated manner. This is a complex problem that has a wide range of applications in fleet management to achieve a common goal, such as mapping from a swarm of robots and…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
In this demo work we develop a method to plan and coordinate a multi-agent team to gather information on demand. The data is periodically requested by a static Operation Center (OC) from changeable goals locations. The mission of the team…
Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…
In this paper, we extend the results from Jiao et al. (2019) on distributed linear quadratic control for leaderless multi-agent systems to the case of distributed linear quadratic tracking control for leader-follower multi-agent systems.…
By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…
We consider a general problem where an agent is in a multi-agent environment and must plan for herself without any prior information about her opponents. At each moment, this pivotal agent is faced with a trade-off between exploiting her…
Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…
This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the…
Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…
Continuum deformation is a leader-follower multiagent cooperative control approach. Previous work showed a desired continuum deformation can be uniquely defined based on trajectories of d +1 leaders in a d-dimensional motion space and…
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…
This paper focuses on a multi-agent zeroth-order online optimization problem in a federated learning setting for target tracking. The agents only sense their current distances to their targets and aim to maintain a minimum safe distance…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…
Vision-Language Navigation (VLN) systems are fundamentally constrained by partial observability, as an agent can only accumulate knowledge from locations it has personally visited. As multiple robots increasingly coexist in shared…