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Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
This article introduces a decentralized robust optimization framework for safe multi-agent control under uncertainty. Although stochastic noise has been the primary form of modeling uncertainty in such systems, these formulations might fall…
This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…
In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…
Decentralized coordination of a robot swarm requires addressing the tension between local perceptions and actions, and the accomplishment of a global objective. In this work, we propose to learn decentralized controllers based on solely raw…
The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…
We consider the task of decentralized minimization of the sum of smooth strongly convex functions stored across the nodes of a network. For this problem, lower bounds on the number of gradient computations and the number of communication…
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…
In this paper, we present a consensus-based decentralized multi-robot approach to reconstruct a discrete distribution of features, modeled as an occupancy grid map, that represent information contained in a bounded planar 2D environment,…
We present a number of powerful local mechanisms for maintaining a dynamic swarm of robots with limited capabilities and information, in the presence of external forces and permanent node failures. We propose a set of local continuous…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
In swarm robotics, decentralized control is often proposed as a more scalable and fault-tolerant alternative to centralized control. However, centralized behaviors are often faster and more efficient than their decentralized counterparts.…
Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…