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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…
In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-board sensor systems, which measure the source local field,…
Collective motion provides a spectacular example of self-organization in Nature. Visual information plays a crucial role among various types of information in determining interactions. Recently, experiments have revealed that organisms such…
This paper exhibits a short-run correspondence method appropriate for swarm versatile robots application. Infrared is utilized for transmitting and accepting information and obstruction location. The infrared correspondence code based swarm…
Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…
We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The…
Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been extensively studied, swarm-based target tracking remains…
Drawing inspiration from flight behavior in biological settings (e.g. territorial battles in dragonflies, and flocking in starlings), this paper demonstrates two strategies for coverage and flocking. Using earlier theoretical studies on…
The survivable network concept refers to contexts where the wireless communication between ground agents needs to be maintained as much as possible at all times, regardless of any adverse conditions that may arise. In this paper we propose…
We introduce a model for self-organized dynamics which, we argue, addresses several drawbacks of the celebrated Cucker-Smale (C-S) model. The proposed model does not only take into account the distance between agents, but instead, the…
In this work, Global Position System (GPS) data from a flock of homing pigeons are analysed. The flocking behaviour of the considered homing pigeons is formulated as a swarm optimal trajectory tracking control problem. The swarm problem in…
Crowd simulation is a central topic in several fields including graphics. To achieve high-fidelity simulations, data has been increasingly relied upon for analysis and simulation guidance. However, the information in real-world data is…
This paper tackles the challenge of multi-sensor multi-object tracking by proposing various decentralised Variational Inference (VI) schemes that match the tracking performance of centralised sensor fusion with only local message exchanges…
This paper introduces a crowd modeling and motion control approach that employs diffusion adaptation within an adaptive network. In the network, nodes collaboratively address specific estimation problems while simultaneously moving as…
This paper discusses elements of a control theory of systems comprised of networks of simple agents that collectively achieve sensing and actuation goals despite having strictly limited capability when acting alone. The goal is to…
This paper presents a new connectivity condition on the information flow between UAVs to achieve coordinated path following. The information flow is directional, so that the underlying communication network topology is represented by a…
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…
This paper investigates the semantic communication and cooperative tracking control for an UAV swarm comprising a leader UAV and a group of follower UAVs, all interconnected via unreliable wireless multiple-input-multiple-output (MIMO)…
This paper proposes an Active Inference-based framework for autonomous trajectory design in UAV swarms. The method integrates probabilistic reasoning and self-learning to enable distributed mission allocation, route ordering, and motion…
We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the…