Related papers: Contingency Model-based Control (CMC) for Communic…
Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a collaborative way. A connectivity maintenance controller must…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated…
In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying…
We propose a hierarchical architecture designed for scalable real-time Model Predictive Control (MPC) in complex, multi-modal traffic scenarios. This architecture comprises two key components: 1) RAID-Net, a novel attention-based Recurrent…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely…
As modern systems become ever more connected with complex dynamic coupling relationships, developing safe control methods becomes paramount. In this paper, we discuss the relationship of node-level safety definitions for individual agents…
Robotic swarms and mobile sensor networks are used for environmental monitoring in various domains and areas of operation. Especially in otherwise inaccessible environments decentralized robotic swarms can be advantageous due to their high…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
This paper investigates the cooperative control of multiple unmanned and manned vehicles via an output containment control approach for heterogeneous discrete-time multiagent systems. The unmanned vehicles act as leading vehicles to guide…
We present decentralized collision avoidance algorithms for quadrotor swarms operating under uncertain state estimation. Our approach exploits the differential flatness property and feedforward linearization to approximate the quadrotor…
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…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
Efficient traffic signal control (TSC) has been one of the most useful ways for reducing urban road congestion. Key to the challenge of TSC includes 1) the essential of real-time signal decision, 2) the complexity in traffic dynamics, and…
Although increased automation has made it easier to control aircraft, ensuring a safe interaction between the pilots and the autopilots is still a challenging problem, especially in the presence of severe anomalies. Current approach…
Cooperative Adaptive Cruise Control (CACC) is a technology that allows groups of vehicles to form in automated, tightly-coupled platoons. CACC schemes exploit Vehicle-to-Vehicle (V2V) wireless communications to exchange information between…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
Decentralized cooperation in partially-observable multi-agent systems requires effective communications among agents. To support this effort, this work focuses on the class of problems where global communications are available but may be…
This paper presents a novel control method for a group of UAVs in obstacle-laden environments while preserving sensing network connectivity without data transmission between the UAVs. By leveraging constraints rooted in control barrier…