Related papers: Distributed Multirobot Control for Non-Cooperative…
In autonomous robotics, a critical challenge lies in developing robust solutions for Active Collaborative SLAM, wherein multiple robots collaboratively explore and map an unknown environment while intelligently coordinating their movements…
Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…
The hunter and gatherer approach copes with the problem of dynamic multi-robot task allocation, where tasks are unknowingly distributed over an environment. This approach employs two complementary teams of agents: one agile in exploring…
In this work, we propose a distributed hierarchical locomotion control strategy for whole-body cooperation and demonstrate the potential for migration into large numbers of agents. Our method utilizes a hierarchical structure to break down…
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…
Action segmentation of behavioral videos is the process of labeling each frame as belonging to one or more discrete classes, and is a crucial component of many studies that investigate animal behavior. A wide range of algorithms exist to…
There is a growing interest in learning a velocity command tracking controller of quadruped robot using reinforcement learning due to its robustness and scalability. However, a single policy, trained end-to-end, usually shows a single gait…
Large amount of data is often required to train and deploy useful machine learning models in industry. Smaller enterprises do not have the luxury of accessing enough data for machine learning, For privacy sensitive fields such as banking,…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
In this paper, we propose two novel decentralized optimization frameworks for multi-agent nonlinear optimal control problems in robotics. The aim of this work is to suggest architectures that inherit the computational efficiency and…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
In this study, we propose a new sheepdog-inspired control method for a swarm of small unmanned aerial vehicles (UAVs), which predicts the swarm behavior while explicitly accounting for the motion constraints of real robots.…
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…
Herding is a deterministic algorithm used to generate data points that can be regarded as random samples satisfying input moment conditions. The algorithm is based on the complex behavior of a high-dimensional dynamical system and is…
Robotic swarm systems are now becoming increasingly attractive for many challenging applications. The main task for any robot is to reach the destination while keeping a safe separation from other robots and obstacles. In many scenarios,…
Resource allocation plays a central role in many networked systems such as smart grids, communication networks and urban transportation systems. In these systems, many constraints have physical meaning and having feasible allocation is…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
Swarm robotics is a study of simple robots that exhibit complex behaviour only by interacting locally with other robots and their environment. The control in swarm robotics is mainly distributed whereas centralised control is widely used in…