Related papers: Position-Based Flocking for Robust Alignment
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
In this paper, we present an innovative particle system characterized by moderate interactions, designed to accurately approximate kinetic flocking models that incorporate singular interaction forces and local alignment mechanisms. We…
Driver assistance systems are increasingly becoming part of the standard equipment of vehicles and thus contribute to road safety. However, as they become more widespread, the requirements for cost efficiency are also increasing, and so few…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…
We investigate the stability of self-propelled particle flocks in the Taylor-Green vortex, a steady vortical flow. We consider a model where particles align themselves to a combination of the orientation and the acceleration of particles…
We present the hydrodynamic theory of coherent collective motion ("flocking") at a solid-liquid interface, and many of its predictions for experiment. We find that such systems are stable, and have long-range orientational order, over a…
We study the large time behavior of a system of interacting agents modeling the relaxation of a large swarm of robots, whose task is to uniformly cover a portion of the domain by communicating with each other in terms of their distance. To…
We study the long-time hydrodynamic behavior of systems of multi-species which arise from agent-based description of alignment dynamics. The interaction between species is governed by an array of symmetric communication kernels. We prove…
In this work, we present solutions to the flocking and target interception problems of multiple nonholonomic unicycle-type robots using the distance-based framework. The control laws are designed at the kinematic level and are based on the…
Alignment interactions in active matter are typically modeled as relaxational dynamics toward local consensus. In unbounded systems, this makes alignment effectively decoupled from local density and therefore unable to sustain self-confined…
The purpose of this paper is to consider flocking formations of a second order dynamic system on a sphere with a Cucker-Smale type flocking operator and cooperative control. The flocking operator consists of a weighted control parameter and…
Background: Recent research in animal behaviour has contributed to determine how alignment, turning responses, and changes of speed mediate flocking and schooling interactions in different animal species. Here, we address specifically the…
Developing the flocking behavior for a dynamic squad of fixed-wing UAVs is still a challenge due to kinematic complexity and environmental uncertainty. In this paper, we deal with the decentralized flocking and collision avoidance problem…
We study a stochastic model of collective motion in which individuals update their orientation through pairwise aligning or anti-aligning copying interactions. We analyze both annealed dynamics, where interaction types are chosen…
Humanoid robots have attracted significant attention in recent years. Reinforcement Learning (RL) is one of the main ways to control the whole body of humanoid robots. RL enables agents to complete tasks by learning from environment…
Flocking is a fascinating phenomenon observed across a wide range of living organisms. We investigate, based on a simple self-propelled particle model, how the emergence of ordered motion in a collectively moving group is influenced by the…
Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these…
Animals moving together in groups are believed to interact among each other with effective social forces, such as attraction, repulsion and alignment. Such forces can be inferred using 'force maps', i.e. by analysing the dependency of the…
Reinforcement-learned locomotion enables legged robots to perform highly dynamic motions but often accompanies time-consuming manual tuning of joint stiffness. This paper introduces a novel control paradigm that integrates variable…