Related papers: Constraint-Driven Optimal Control for Emergent Swa…
Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of…
This paper solves the problem of herding countless evaders by means of a few robots. The objective is to steer all the evaders towards a desired tracking reference while avoiding escapes. The problem is very challenging due to the highly…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…
Evolutionary changes impacts interactions among populations and can disrupt ecosystems by driving extinctions or by collapsing population oscillations, posing significant challenges to biodiversity conservation. This study addresses the…
Motivated by the applications, a class of optimal control problems is investigated, where the goal is to influence the behavior of a given population through another controlled one interacting with the first. Diffusive terms accounting for…
Motivated by the control of invasive biological populations, we consider a class of optimization problems for moving sets $t\mapsto \Omega(t)\subset\mathbb{R}^2$. Given an initial set $\Omega_0$, the goal is to minimize the area of the…
We propose a bio-inspired, agent-based approach to describe the natural phenomenon of group chasing in both two and three dimensions. Using a set of local interaction rules we created a continuous-space and discrete-time model with time…
This paper treats an optimal scheduling problem of control nodes in networked systems. We newly introduce both the L0 and l0 constraints on control inputs to extract a time-varying small number of effective control nodes. As the cost…
This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where…
Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically…
Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific…
Swarm intelligence is widely recognized as a powerful paradigm of self-organized optimization, with numerous examples of successful applications in distributed artificial intelligence. However, the role of physical interactions in the…
In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints and input constraints. In the proposed control scheme,…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
Transitions between two lanes often have a significant impact on various forms of road traffic. To address this problem, we have developed a two-lane asymmetric simple exclusion process model and two hypothetical traffic control strategies,…
Spin squeezing serves as both a fundamental witness of quantum entanglement and a critical resource for quantum-enhanced metrology. While generating substantial spin squeezing in finite-range interacting systems remains challenging, such…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
In this paper we are concerned with multiscale modeling, control, and simulation of self-organizing agents leaving an unknown area under limited visibility, with special emphasis on crowds. We first introduce a new microscopic model…
As autonomous vehicles (AVs) become increasingly prevalent, their interaction with human drivers presents a critical challenge. Current AVs lack social awareness, causing behavior that is often awkward or unsafe. To combat this, social AVs,…