Related papers: Multi-robot Rigid Formation Navigation via Synchro…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight…
We present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. The proposed approach ensures safe and global navigation towards a target location by…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
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 a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…
This paper investigates the application of reinforcement learning (RL) to multi-robot social formation navigation, a critical capability for enabling seamless human-robot coexistence. While RL offers a promising paradigm, the inherent…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…