Related papers: Flocking behavior for dynamic and complex swarm st…
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas, which are always subjected to the presence of static and dynamic obstacles. Inspired by the…
Unmanned aerial vehicle (UAV) swarm control has applications including target tracking, surveillance, terrain mapping, and precision agriculture. Decentralized control methods are particularly useful when the swarm is large, as centralized…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
This study proposes a distributed algorithm that makes agents' adaptive grouping entrap multiple targets via automatic decision making, smooth flocking, and well-distributed entrapping. Agents make their own decisions about which targets to…
Collective behaviors such as swarming and flocking emerge from simple, decentralized interactions in biological systems. Existing models, such as Vicsek and Cucker-Smale, lack collision avoidance, whereas the Olfati-Saber model imposes…
Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…
Formation control with the flocking approach is an efficient method that can reach the formation without determining the agent's position. This paper focuses on reaching the circular formation around the leader or target with a specific…
The ultra large multi-agent systems are becoming increasingly popular due to quick decay of the individual production costs and the potential of speeding up the solving of complex problems. Examples include nano-robots, or systems of…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…
Swarming is a conspicuous behavioural trait observed in bird flocks, fish shoals, insect swarms and mammal herds. It is thought to improve collective awareness and offer protection from predators. Many current models involve the hypothesis…
This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness…
In crowded environments, individuals must navigate around other occupants to reach their destinations. Understanding and controlling traffic flows in these spaces is relevant for coordinating robot swarms and designing infrastructure for…
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…
We consider the problem of understanding the coordinated movements of biological or artificial swarms. In this regard, we propose a learning scheme to estimate the coordination laws of the interacting agents from observations of the swarm's…
We study the universal behavior of a class of active colloids whose design is inspired by the collective dynamics of natural systems like schools of fish and flocks of birds. These colloids, with off-center repulsive interaction sites,…
Swarm robotic systems are currently being used to address many real-world problems. One interesting application of swarm robotics is the self-organized formation of structures and shapes. Some of the key challenges in the swarm robotic…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In this paper, we address the problem of vehicle platoon formation in a traffic network with partial…
Unmanned aerial vehicle (UAV) swarms encounter the challenge of high overhead due to both network management and formation control requirements. In this paper, we propose a Bio-inspired Integrated Networking and Control (BINC) scheme,…