Related papers: Collision-Free Multi-Agent Coverage Control for No…
This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements.…
Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…
This paper presents a novel coverage control algorithm for multi-agent systems, where each agent has no prior knowledge of the specific region to be covered. The proposed method enables agents to autonomously detect the target area and…
A novel approach for achieving fast evasion in self-localized swarms of Unmanned Aerial Vehicles (UAVs) threatened by an intruding moving object is presented in this paper. Motivated by natural self-organizing systems, the presented…
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…
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…
The objective in this article is to develop a control strategy for coverage purposes of a convex region by a fleet of Mobile Aerial Agents (MAAs). Each MAA is equipped with a downward facing camera that senses a convex portion of the area…
This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera of conical FOV…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertainties. The approach relies on the computation of an…
This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by…
The challenge of efficient target searching in vast natural environments has driven the need for advanced multi-UAV active search strategies. This paper introduces a novel method in which global and local information is adeptly merged to…
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the…
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this paper. A novel model of a UAV…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This paper presents a safe adaptive coverage controller for multi-agent systems with actuator faults and time-varying uncertainties. The centroidal Voronoi tessellation (CVT) is applied to generate an optimal configuration of multi-agent…
We propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…
Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most…
This paper addresses the coverage control problem of multi-agent systems in the uncertain environment. With the aid of Voronoi partition, a distributed coverage control formulation of multi-agent system is proposed to complete the workload…
Swarms of autonomous agents are useful in many applications due to their ability to accomplish tasks in a decentralized manner, making them more robust to failures. Due to the difficulty in running experiments with large numbers of hardware…