Related papers: Cooperative Target Capture using Voronoi Region Sh…

This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where…

This paper considers an M-pursuer N-evader scenario involving virtual targets. The virtual targets serve as an intermediary target for the pursuers, allowing the pursuers to delay their final assignment to the evaders. However, upon…

In this article, I argue that the concept of the standard Voronoi diagram is incorrect for the calculation of dominance area in soccer. The correct region that should replace the polygonal Voronoi region controlled by a player emerges…

We present a comprehensive two-layer Voronoi coverage control approach for coordinating hybrid aerial-ground robot teams in hazardous material emergency response scenarios. Traditional Voronoi coverage control methods face three critical…

In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…

In this paper, we address the problem of enclosing an arbitrarily moving target in three dimensions by a single pursuer while ensuring the pursuer's safety by preventing collisions with the target. The proposed guidance strategy steers the…

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a novel congestion metric-based replanning that couples local…

A planar herding problem is considered, where a superior pursuer herds a flock of non-cooperative, inferior evaders around a predefined target point. An inverse square law of repulsion is assumed between the pursuer and each evader. Two…

Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…

This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation…

An approach of mobile multi-agent pursuit based on application of self-organizing feature map (SOFM) and along with that reinforcement learning based on agent group role membership function (AGRMF) model is proposed. This method promotes…

This paper systematically studies the cooperative area coverage and target tracking problem of multiple-unmanned aerial vehicles (multi-UAVs). The problem is solved by decomposing into three sub-problems: information fusion, task…

In a crowd, individuals make different motion choices such as "moving to destination", "following another pedestrian", and "making a detour". For the sake of convenience, the three direction choices are respectively called destination…

We address the problem of replicating a Voronoi diagram $V(S)$ of a planar point set $S$ by making proximity queries, which are of three possible (in decreasing order of information content): 1. the exact location of the nearest site(s) in…

The Voronoi diagram-based dual-front active contour models are known as a powerful and efficient way for addressing the image segmentation and domain partitioning problems. In the basic formulation of the dual-front models, the evolving…

Recently, correlation filter-based trackers have received extensive attention due to their simplicity and superior speed. However, such trackers perform poorly when the target undergoes occlusion, viewpoint change or other challenging…

Most modern multi-object tracking (MOT) systems follow the tracking-by-detection paradigm. It first localizes the objects of interest, then extracting their individual appearance features to make data association. The individual features,…