Related papers: DMPC-Swarm: Distributed Model Predictive Control o…

This article presents Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swarms. The technique is inspired by the flocking and collective…

Effective operation and seamless cooperation of robotic systems are a fundamental component of next-generation technologies and applications. In contexts such as disaster response, swarm operations require coordinated behavior and mobility…

This paper introduces an Unmanned Aerial Vehicle - enabled content management architecture that is suitable for critical content access in communities of users that are communication-isolated during diverse types of disaster scenarios. The…

The usage of unmanned aerial vehicles (UAVs) in civil and military applications continues to increase due to the numerous advantages that they provide over conventional approaches. Despite the abundance of such advantages, it is imperative…

The deployment of unmanned aerial vehicles (UAVs) is proliferating as they are effective, flexible and cost-efficient devices for a variety of applications ranging from natural disaster recovery to delivery of goods. We investigate a…

Modelling biological or engineering swarms is challenging due to the inherently high dimension of the system, despite the often low-dimensional emergent dynamics. Most existing swarm modelling approaches are based on first principles and…

Unmanned Aerial Vehicle (UAV) swarms adoption shows a steady growth among operators due to the benefits in time and cost arisen from their use. However, this kind of system faces an important problem which is the calculation of many optimal…

Both data ferrying with disruption-tolerant networking (DTN) and mobile cellular base stations constitute important techniques for UAV-aided communication in situations of crises where standard communication infrastructure is unavailable.…

Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarchical framework that leverages image-conditioned…

Unmanned Aerial Vehicles (UAVs) are increasingly adopted in modern communication networks. However, challenges in decision-making and digital modeling continue to impede their rapid advancement. Reinforcement Learning (RL) algorithms face…

Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC schemes can require an overwhelming amount of information…

Unmanned Aerial Vehicles (UAVs), referenced as drones, have advanced to consumer adoption for hobby and business use. Drone applications, such as infrastructure technology, security mechanisms, and resource delivery, are just the starting…

Nonlinear Model Predictive Control (NMPC) is a powerful approach for controlling highly dynamic robotic systems, as it accounts for system dynamics and optimizes control inputs at each step. However, its high computational complexity makes…

This paper proposes a distributed model predictive control (DMPC) approach for an urban traffic network (UTN) system. The control objective is to minimize the traffic congestion and the total travel time spent (TTS) in each link. The…

In this paper, we consider a distributed model predictive control (MPC) algorithm for coordinated path-following. Relying on the time-critical cooperative path-following framework, which decouples space and time and reduces the coordination…

This paper presents a deep reinforcement learning (DRL) based controller for collective navigation of unmanned aerial vehicle (UAV) swarms in communication-denied environments, enabling robust operation in complex, obstacle-rich…

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…

Unmanned Aerial Vehicles (UAVs) are evolving as adaptable platforms for a wide range of applications such as precise inspections, emergency response, and remote sensing. Autonomous UAV swarms require efficient and stable communication…

Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the state-of-the-art of aerial swarms in navigation speed and robustness is of tremendous benefit.…

In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints and input constraints. In the proposed control scheme,…