Related papers: Guiding vector fields for the distributed motion c…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
Vector fields are advantageous in handling nonholonomic motion planning as they provide reference orientation for robots. However, additionally incorporating curvature constraints becomes challenging, due to the interconnection between the…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
Most of the existing path-following navigation algorithms cannot guarantee global convergence to desired paths or enable following self-intersected desired paths due to the existence of singular points where navigation algorithms return…
Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers from guiding rigid formations of mobile agents to converge to…
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
This paper addresses the problem of multi-robot navigation where robots maneuver on a desired \(m\)-dimensional (i.e., \(m\)-D) manifold in the $n$-dimensional Euclidean space, and maintain a {\it flexible spatial ordering}. We consider $…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
This article is a technical report on the two different guidance systems based on vector fields that can be found in Paparazzi, a free sw/hw autopilot. Guiding vector fields allow autonomous vehicles to track paths described by the user…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…
Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…