Related papers: Robust Distributed Control within a Curve Virtual …
The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaining precise alignment for unseen environments pose a…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
In this paper, a distributed convex optimization problem with swarm tracking behavior is studied for continuous-time multi-agent systems. The agents' task is to drive their center to track an optimal trajectory which minimizes the sum of…
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…
Under-canopy agricultural robots require robust navigation capabilities to enable full autonomy but struggle with tight row turning between crop rows due to degraded GPS reception, visual aliasing, occlusion, and complex vehicle dynamics.…
We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation for drones is challenging due to complex aerodynamic…
We present and analyze methods for patrolling an environment with a distributed swarm of robots. Our approach uses a physical data structure - a distributed triangulation of the workspace. A large number of stationary "mapping" robots cover…
Modularity in robotics holds great potential. In principle, modular robots can be disassembled and reassembled in different robots, and possibly perform new tasks. Nevertheless, actually exploiting modularity is yet an unsolved problem:…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independent components, i.e., interception and enclosing, which are…
Cyborg insects refer to hybrid robots that integrate living insects with miniature electronic controllers to enable robotic-like programmable control. These creatures exhibit advantages over conventional robots in adaption to complex…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
The flock-guidance problem enjoys a challenging structure where multiple optimization objectives are solved simultaneously. This usually necessitates different control approaches to tackle various objectives, such as guidance, collision…
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic…
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…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and does not require global position information or…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…