Related papers: A Continuification-Based Control Solution for Larg…
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial distribution. Unlike prior work, we…
An emerging challenge in swarm shepherding research is to design effective and efficient artificial intelligence algorithms that maintain a low-computational ceiling while increasing the swarm's abilities to operate in diverse contexts. We…
This paper presents a novel control strategy to herd groups of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strongly nonlinear and heterogeneous…
Modern applications, such as orchestrating the collective behavior of robotic swarms or traffic flows, require the coordination of large groups of agents evolving in unstructured environments, where disturbances and unmodeled dynamics are…
In this Paper we propose a simple yet effective set of local control rules to make a group of "herder agents" collect and contain in a desired region an ensemble of non-cooperative stochastic "target agents" in the plane. We investigate the…
Swarm control is a difficult problem due to the need to guide a large number of agents simultaneously. We cast the problem as a shepherding problem, similar to biological dogs guiding a group of sheep towards a goal. The shepherd needs to…
The analysis and control of large-population systems is of great interest to diverse areas of research and engineering, ranging from epidemiology over robotic swarms to economics and finance. An increasingly popular and effective approach…
In this paper we present a continuation method which transforms spatially distributed ODE systems into continuous PDE. We show that this continuation can be performed both for linear and nonlinear systems, including multidimensional, space-…
In this paper, we consider the problem of protecting a high-value unit from inadvertent attack by a group of agents using defending robots. Specifically, we develop a control strategy for the defending agents that we call "dog robots" to…
An important problem in microrobotics is how to control a large group of microrobots with a global control signal. This paper focuses on controlling a large-scale swarm of MicroStressBots with on-board physical finite-state machines. We…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…
Collective behavior of the complex socio-economic systems is heavily influenced by the herding, group, behavior of individuals. The importance of the herding behavior may enable the control of the collective behavior of the individuals. In…
We propose MADP, a novel diffusion-model-based approach for collaboration in decentralized robot swarms. MADP leverages diffusion models to generate samples from complex and high-dimensional action distributions that capture the…
With the rapid development of AI and robotics, transporting a large swarm of networked robots has foreseeable applications in the near future. Existing research in swarm robotics has mainly followed a bottom-up philosophy with predefined…
Efficient exploration of large-scale environments remains a critical challenge in robotics, with applications ranging from environmental monitoring to search and rescue operations. This article proposes Frontier Shepherding (FroShe), a…
We consider optimal swarm control problems where two different classes of agents are present. Continuum idealizations of large-scale swarms are used where the dynamics describe the evolution of the spatially-distributed densities of each…
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…
Large-size populations consisting of a continuum of identical and non-cooperative agents with stochastic dynamics are useful in modeling various biological and engineered systems. This paper addresses the stochastic control problem of…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
Large scale systems are forecasted to greatly impact our future lives thanks to their wide ranging applications including cooperative robotics, mobility on demand, resource allocation, supply chain management. While technological…