Related papers: Decentralized Swarm Control via SO(3) Embeddings f…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
We propose an algorithm for creating stable, ordered, swarms of active robotic agents arranged in any given pattern. The strategy involves suppressing a class of fluctuations known as "non-affine" displacements, viz. those involving…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
This paper investigates decentralized shepherding in cluttered environments, where a limited number of herders must guide a larger group of non-cohesive, diffusive targets toward a goal region in the presence of static obstacles. A…
In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids collisions with static obstacles, dynamic obstacles and other…
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…
In this work, we propose a distributed hierarchical locomotion control strategy for whole-body cooperation and demonstrate the potential for migration into large numbers of agents. Our method utilizes a hierarchical structure to break down…
This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using…
We investigate the application of a multi-objective genetic algorithm to the problem of task allocation in a self-organizing, decentralized, threshold-based swarm. Each agent in our system is capable of performing four tasks with a response…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower…
This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…
Development of guidance, navigation and control frameworks/algorithms for swarms attracted significant attention in recent years. That being said, algorithms for planning swarm allocations/trajectories for engaging with enemy swarms is…
We propose a sliding surface for systems on the Lie group $SO(3)\times \mathbb{R}^3$ . The sliding surface is shown to be a Lie subgroup. The reduced-order dynamics along the sliding subgroup have an almost globally asymptotically stable…
In this paper, we investigate how to learn to control a group of cooperative agents with limited sensing capabilities such as robot swarms. The agents have only very basic sensor capabilities, yet in a group they can accomplish…
This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements.…
This paper presents a novel approach to enhance sensing capabilities in UAV-enabled MIMO-OFDM ISAC systems by leveraging UAV mobility as a mono-static radar. By integrating uniform planar arrays (UPAs) and modeling the UAV dynamics in…
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…
This paper presents a systematic approach to exponentially stabilize the periodic orbits of multi-domain hybrid systems arising from 3D bipedal walking. Firstly, the method of Poincare sections is extended to the hybrid systems with…