Related papers: Scale-Invariant Specifications for Human-Swarm Sys…
This paper presents a decentralized and asynchronous systematic solution for multi-robot autonomous navigation in unknown obstacle-rich scenes using merely onboard resources. The planning system is formulated under gradient-based local…
Scale invariance profoundly influences the dynamics and structure of complex systems, spanning from critical phenomena to network architecture. Here, we propose a precise definition of scale-invariant networks by leveraging the concept of a…
The Agentic Service Ecosystem consists of heterogeneous autonomous agents (e.g., intelligent machines, humans, and human-machine hybrid systems) that interact through resource exchange and service co-creation. These agents, with distinct…
This paper studies a defense approach against one or more swarms of adversarial agents. In our earlier work, we employ a closed formation (`StringNet') of defending agents (defenders) around a swarm of adversarial agents (attackers) to…
Coordinated controlling a large UAV swarm requires significant spectrum resources due to the need for bandwidth allocation per UAV, posing a challenge in resource-limited environments. Over-the-air (OTA) control has emerged as a…
Understanding decentralized dynamics from collective behaviors in swarms is crucial for informing robot controller designs in artificial swarms and multiagent robotic systems. However, the complexity in agent-to-agent interactions and the…
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…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
Unmanned aerial vehicle (UAV) swarms encounter the challenge of high overhead due to both network management and formation control requirements. In this paper, we propose a Bio-inspired Integrated Networking and Control (BINC) scheme,…
Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…
Conventional tracking solutions are not feasible in handling abrupt motion as they are based on smooth motion assumption or an accurate motion model. Abrupt motion is not subject to motion continuity and smoothness. To assuage this, we deem…
Cyclically shifted partial transmit sequences (CS-PTS) has conventionally been used in SISO systems for PAPR reduction of OFDM signals. Compared to other techniques, CS-PTS attains superior performance. Nevertheless, due to the exhaustive…
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…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
We present a model for controlling swarms of mobile agents via broadcast control, assumed to be detected by a random set of agents in the swarm. The agents that detect the control signal become ad-hoc leaders of the swarm. The agents are…
The main contribution of this paper is a novel method allowing an external observer/controller to steer and guide swarms of identical and indistinguishable agents, in spite of the agents' lack of information on absolute location and…
The ergodic spectral efficiency (SE) in interference-limited multiple-input multiple-output (MIMO) downlink cellular systems is characterized based on stochastic geometry. A single user is served by using singular value decomposition…
This article presents a unique framework for deploying decentralized and infrastructure-independent swarms of homogeneous aerial vehicles in the real world without explicit communication. This is a requirement in swarm research, which…
A long-standing goal in computer vision is to capture, model, and realistically synthesize human behavior. Specifically, by learning from data, our goal is to enable virtual humans to navigate within cluttered indoor scenes and naturally…
In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…