Related papers: FDA Flocking: Future Direction-Aware Flocking via …
Collective motion in animal groups provide examples of emergent, decentralised coordination. Here, we examine a bottom-up model of collective behavior based on Future State Maximisation (FSM). In this model agents seek to maximise the…
Collective dynamics of many interacting particles have been widely studied because of a wealth of their behavioral patterns quite different from the individual traits. A selective way of birds that reacts to their neighbors is one of the…
Fish, birds, insects and robots frequently swim or fly in groups. During their 3 dimensional collective motion, these agents do not stop, they avoid collisions by strong short-range repulsion, and achieve group cohesion by weak long-range…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
It is promising but challenging to design flocking control for a robot swarm to autonomously follow changing patterns or shapes in a optimal distributed manner. The optimal flocking control with dynamic pattern formation is, therefore,…
In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal control problem where the agents minimize…
The aerial flocking of birds, or murmurations, has fascinated observers while presenting many challenges to behavioral study and simulation. We examine how the periphery of murmurations remain well bounded and cohesive. We also investigate…
Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm…
Developing the flocking behavior for a dynamic squad of fixed-wing UAVs is still a challenge due to kinematic complexity and environmental uncertainty. In this paper, we deal with the decentralized flocking and collision avoidance problem…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
This work presents a novel, inference-based approach to the distributed and cooperative flocking control of aerial robot swarms. The proposed method stems from the Unmanned Aerial Vehicle (UAV) dynamics by limiting the latent set to the…
Individual agents in natural systems like flocks of birds or schools of fish display a remarkable ability to coordinate and communicate in local groups and execute a variety of tasks efficiently. Emulating such natural systems into drone…
Flocking model has been widely used to control robotic swarm. However, with the increasing scalability, there exist complex conflicts for robotic swarm in autonomous navigation, brought by internal pattern maintenance, external environment…
For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…
The flock-guidance problem enjoys a challenging structure where multiple optimization objectives are solved simultaneously. This usually necessitates different control approaches to tackle various objectives, such as guidance, collision…
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…
Collective behavior models, such as aggregation and flocking, usually assume self-propelled robots that can directly execute their desired speed and direction of motion without fundamental constraints. However, autonomous sailing robots…
The correlated motion of flocks is an instance of global order emerging from local interactions. An essential difference with analogous ferromagnetic systems is that flocks are active: animals move relative to each other, dynamically…
The popularity of rule-based flocking models, such as Reynolds' classic flocking model, raises the question of whether more declarative flocking models are possible. This question is motivated by the observation that declarative models are…
Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing the flocking behavior of UAVs based on the concept of Virtual…