Related papers: Collaborative Safe Formation Control for Coupled M…

In this paper, the recent developments on distributed coordination control, especially the consensus and formation control, are summarized with the graph theory playing a central role, in order to present a cohesive overview of the…

In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a…

Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the…

The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…

Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…

This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…

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)…

Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault…

The movement of cooperative robots in a densely cluttered environment may not be possible if the formation type is invariant. Hence, we investigate a new method for time-varying formation control for a group of heterogeneous autonomous…

Many safety-critical real-world problems, such as autonomous driving and collaborative robots, are of a distributed multi-agent nature. To optimize the performance of these systems while ensuring safety, we can cast them as distributed…

When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…

Robotics research has been focusing on cooperative multi-agent problems, where agents must work together and communicate to achieve a shared objective. To tackle this challenge, we explore imitation learning algorithms. These methods learn…

We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…

Formation control algorithms for multi-agent systems have gained much attention in the recent years due to the increasing amount of mobile and aerial robotic swarms. The design of safe controllers for these vehicles is a substantial aspect…

Collective control of mobile microrobotic swarms is indispensable for their potential high-impact applications in targeted drug delivery, medical diagnostics, parallel micromanipulation, and environmental sensing and remediation. Lack of…

In this letter, we consider a distributed submodular maximization problem for multi-robot systems when attacked by adversaries. One of the major challenges for multi-robot systems is to increase resilience against failures or attacks. This…

Swarm robotics is the study of how a large number of relatively simple robots can be designed so that a desired collective behaviour emerges from the local interactions among robots and between the robots and their environment. While many…

Effective collective decision-making in swarm robotics often requires balancing exploration, communication and individual uncertainty estimation, especially in hazardous environments where direct measurements are limited or costly. We…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

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…