Related papers: Dynamic Subgoal based Path Formation and Task Allo…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
Active SLAM is the task of actively planning robot paths while simultaneously building a map and localizing within. Existing work has focused on planning paths with occupancy grid maps, which do not scale well and suffer from long term…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…
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…
Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
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…
In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…
Decentralized swarm robotic solutions to searching for targets that emit a spatially varying signal promise task parallelism, time efficiency, and fault tolerance. It is, however, challenging for swarm algorithms to offer scalability and…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, path planning, and formation control, and mission-specific…
Collective decision-making is a key function of autonomous robot swarms, enabling them to reach a consensus on actions based on environmental features. Existing strategies require the participation of all robots in the decision-making…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…
This paper addresses path set planning that yields important applications in robot manipulation and navigation such as path generation for deformable object keypoints and swarms. A path set refers to the collection of finite agent paths to…
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
In swarm robotics, confrontation scenarios, including strategic confrontations, require efficient decision-making that integrates discrete commands and continuous actions. Traditional task and motion planning methods separate…
Conventional navigation pipelines for legged robots remain largely geometry-centric, relying on dense SLAM representations that are fragile under rapid motion and offer limited support for semantic decision making in open-world exploration.…