Related papers: Scale-Invariant Specifications for Human-Swarm Sys…
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this paper. A novel model of a UAV…
Despite progress developing experimentally-consistent models of insect in-flight sensing and feedback for individual agents, a lack of systematic understanding of the multi-agent and group performance of the resulting bio-inspired sensing…
Unmanned aerial vehicle (UAV) swarm control has applications including target tracking, surveillance, terrain mapping, and precision agriculture. Decentralized control methods are particularly useful when the swarm is large, as centralized…
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…
In this work, we present preliminary work on a novel method for Human-Swarm Interaction (HSI) that can be used to change the macroscopic behavior of a swarm of robots with decentralized sensing and control. By integrating a small yet…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
This research paper addresses the challenges of exploration and navigation in unknown environments from an evolutionary swarm robotics perspective. Path formation plays a crucial role in enabling cooperative swarm robots to accomplish these…
The main focus of this article is the study of ergodicity of Interacting Particle Systems (IPS). We present a simple lemma showing that scaling time is equivalent to taking the convex combination of the transition matrix of the IPS with the…
In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…
UAV swarms can form virtual antenna arrays to exploit additional spatial degrees of freedom and enhance integrated sensing and communication (ISAC). The optimization of UAV positions is challenging due to the distributed nature of swarms…
A teleoperated swarm must follow the unpredictable commands of its human operator while remaining connected. When the swarm communications are limited by distance and affected by delays, both the user input and the transmission delays…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
Self-navigation in non-coordinating crowded environments is formidably challenging within multi-agent systems consisting of non-holonomic robots operating through local sensing. Our primary objective is the development of a novel, rapid,…
Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here we present a mechanical design rule that allows robots…
Monocular visual SLAM enables 3D reconstruction from internet video and autonomous navigation on resource-constrained platforms, yet suffers from scale drift, i.e., the gradual divergence of estimated scale over long sequences. Existing…
This article suggests ways to implement sequential, parallel and in the form of a given configuration of the movement of an ensemble (swarm) of mobile agents using the effect of chaotic phase synchronization. The possibility of controlling…
Inspired by human-like behaviors for navigation: first searching to explore unknown areas before discovering the target, and then the pathfinding of moving towards the discovered target, recent studies design parallel submodules to achieve…
Swarm and modular robotics are an emerging area in control of autonomous systems. However, coordinating a large group of interacting autonomous agents requires careful consideration of the logistical issues involved. In particular,…
Coordinated motion control in swarm robotics aims to ensure the coherence of members in space, i.e., the robots in a swarm perform coordinated movements to maintain spatial structures. This problem can be modeled as a tracking control…