Related papers: Decentralised, Self-Organising Drone Swarms using …
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…
We propose a novel framework for composing Swarm-based Drone-as-a-Service (SDaaS) for delivery. Two composition approaches, i.e., sequential and parallel are designed considering the different behaviors of drone swarms. The proposed…
Swarming behavior, where coherent motion emerges from the interactions of many mobile agents, is ubiquitous in physics and biology. Moreover, there are many efforts to replicate swarming dynamics in mobile robotic systems which take…
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
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…
We present a system to coordinate 'urban mobility swarms' in order to promote the use and safety of lightweight, sustainable transit, while enhancing the vibrancy and community fabric of cities. This work draws from behavior exhibited by…
Swarm systems consist of large numbers of robots that collaborate autonomously. With an appropriate level of human control, swarm systems could be applied in a variety of contexts ranging from search-and-rescue situations to Cyber defence.…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Many swarm robotics tasks consist of multiple conflicting objectives. This research proposes a multi-objective evolutionary neural network approach to developing controllers for swarms of robots. The swarm robot controllers are trained in a…
Swarms are self-organized dynamical coupled agents which evolve from simple rules of communication. They are ubiquitous in nature, and be- coming more prominent in defense applications. Here we report on a preliminary study of swarm…
This article presents a unique framework for deploying decentralized and infrastructure-independent swarms of homogeneous aerial vehicles in the real world without explicit communication. This is a requirement in swarm research, which…
It is known from both theory and experiments that introducing time delays into the communication network of mobile-agent swarms produces coherent rotational patterns. Often such spatio-temporal rotations can be bistable with other swarming…
The paper focuses on a heterogeneous swarm of drones to achieve a dynamic landing of formation on a moving robot. This challenging task was not yet achieved by scientists. The key technology is that instead of facilitating each agent of the…
Robotics research has been focusing on cooperative multi-agent problems, where agents must work together and communicate to achieve a shared objective. To tackle this challenge, we explore imitation learning algorithms. These methods learn…
We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…