Related papers: Robot Swarm Control Based on Smoothed Particle Hyd…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
Autonomous navigation in highly populated areas remains a challenging task for robots because of the difficulty in guaranteeing safe interactions with pedestrians in unstructured situations. In this work, we present a crowd navigation…
Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key…
Coordinating micro-robotic swarms in physiologically realistic, time-dependent fluid environments remains an unsolved challenge for biomedical and environmental applications. We present a hybrid Computational Fluid Dynamics -…
In recent years, reinforcement learning and its multi-agent analogue have achieved great success in solving various complex control problems. However, multi-agent reinforcement learning remains challenging both in its theoretical analysis…
Prior works in human-swarm interaction (HSI) have sought to guide swarm behavior towards established objectives, but may be unable to handle specific scenarios that require finer human supervision, variable autonomy, or application to…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…
Smoothed Particle Hydrodynamics (SPH) is a Lagrangian method for solving the fluid equations that is commonplace in astrophysics, prized for its natural adaptivity and stability. The choice of variable to smooth in SPH has been the topic of…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
We present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. The proposed approach ensures safe and global navigation towards a target location by…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids collisions with static obstacles, dynamic obstacles and other…
State estimation for hybrid systems that undergo intermittent contact with their environments, such as extraplanetary robots and satellites undergoing docking operations, is difficult due to the discrete uncertainty propagation during…
Navigating efficiently across vortical flow fields presents a significant challenge in various robotic applications. The dynamic and unsteady nature of vortical flows often disturbs the control of underwater robots, complicating their…
The increasing complexity of marine operations has intensified the need for intelligent robotic systems to support ocean observation, exploration, and resource management. Underwater swarm robotics offers a promising framework that extends…
This paper introduces a novel numerical approach to achieving smooth lane-change trajectories in autonomous driving scenarios. Our trajectory generation approach leverages particle swarm optimization (PSO) techniques, incorporating Neural…
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…