Related papers: Distributed Resilience-Aware Control in Multi-Robo…
Robots deployed in unstructured, real-world environments operate under considerable uncertainty due to imperfect state estimates, model error, and disturbances. Given this real-world context, the goal of this paper is to develop controllers…
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilistic safety constraints. Our method introduces a…
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assume robot homogeneity, making shared safety requirements…
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…
A distributed adaptive control strategy is developed for heterogeneous multiagent systems in nonlinear Brunovsky form with \({\pd}\)-dimensional $n^{\text{th}}$-order dynamics, operating under time-triggered switching communication…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distributed navigation algorithm certified by control barrier…
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as hardware degradation, changing weather patterns, or…
Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
Distributed control increases system scalability, flexibility, and redundancy. Foundational to such decentralisation is consensus formation, by which decision-making and coordination are achieved. However, decentralised multi-agent systems…
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
This paper proposes a novel data-driven control strategy for maintaining connectivity in networked multi-robot systems. Existing approaches often rely on a pre-determined communication model specifying whether pairwise robots can…
This paper proposes a fair control framework for multi-robot systems, which integrates the newly introduced Alternative Authority Control (AAC) and Flexible Control Barrier Function (F-CBF). Control authority refers to a single robot which…
Control barrier functions (CBFs) have recently become a powerful method for rendering desired safe sets forward invariant in single- and multi-agent systems. In the multi-agent case, prior literature has considered scenarios where all…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
Cooperative transport and manipulation of heavy or bulky payloads by multiple manipulators requires coordinated formation tracking, while simultaneously enforcing strict safety constraints in varying environments with limited communication…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…