Related papers: Decentralised and Cooperative Control of Multi-Rob…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
In this paper, we study cooperative multi-agent systems in which the target objective and the controls exercised by the agents are dependent on the choices they made at initial system time. Such systems have been investigated in several…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
Optimal control synthesis in stochastic systems with respect to quantitative temporal logic constraints can be formulated as linear programming problems. However, centralized synthesis algorithms do not scale to many practical systems. To…
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…
Controlling large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
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…
A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…
Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
Feedback optimisation is an emerging technique aiming at steering a system to an optimal steady state for a given objective function. We show that it is possible to employ this control strategy in a distributed manner. Moreover, we prove…
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…