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In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…
The paradigmatic formation control problem of steering a multi-agent system towards a balanced circular formation has been the subject of extensive studies in the control engineering community. Indeed, this is due to the fact that it shares…
There are many industrial, commercial and social applications for multi-agent planning for multirotors such as autonomous agriculture, infrastructure inspection and search and rescue. Thus, improving on the state-of-the-art of multi-agent…
Unmanned Aerial Vehicles equipped with cameras can be used to automate image capture for generating 3D models via photogrammetry. Current methods rely on a single vehicle to capture images sequentially, or use pre-planned and heuristic…
Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…
Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local…
This study proposes a distributed algorithm that makes agents' adaptive grouping entrap multiple targets via automatic decision making, smooth flocking, and well-distributed entrapping. Agents make their own decisions about which targets to…
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
The decreased size and cost of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) has enabled the use of swarms of unmanned autonomous vehicles to accomplish a variety of tasks. By utilizing swarming behaviors, it is…
Several distributed algorithms are presented for the exploration of unknown indoor regions by a swarm of flying, energy constrained agents. The agents, which are identical, autonomous, anonymous and oblivious, uniformly cover the region and…
Making a decision in a changeable and dynamic environment is an arduous task owing to the lack of information, their uncertainties and the unawareness of planners about the future evolution of incidents. The use of a decision support system…
In structured multi-agent transportation systems, agents often must follow predefined routes, making spatial rerouting undesirable or impossible. This paper addresses route-constrained multi-agent coordination by optimizing waypoint passage…
Self-organization is a process where a stable pattern is formed by the cooperative behavior between parts of an initially disordered system without external control or influence. It has been introduced to multi-agent systems as an internal…
In this paper, we investigate an unmanned aerial vehicle (UAV)-assistant air-to-ground communication system, where multiple UAVs form a UAV-enabled virtual antenna array (UVAA) to communicate with remote base stations by utilizing…
The robot exploration task has been widely studied with applications spanning from novel environment mapping to item delivery. For some time-critical tasks, such as rescue catastrophes, the agent is required to explore as efficiently as…
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are…
In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…