相关论文: Distributed allocation of mobile sensing swarms in…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…
Modern applications, such as orchestrating the collective behavior of robotic swarms or traffic flows, require the coordination of large groups of agents evolving in unstructured environments, where disturbances and unmodeled dynamics are…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
We propose a distributed deployment solution for a group of mobile agents that should provide a service for a dense set of targets. The agents are heterogeneous in a sense that their quality of service (QoS), modeled as a spatial Gaussian…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
Tracking Lagrangian coherent structures in dynamical systems is important for many applications such as oceanography and weather prediction. In this paper, we present a collaborative robotic control strategy designed to track stable and…
Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
Source localization in a complex flow poses a significant challenge for multi-robot teams tasked with localizing the source of chemical leaks or tracking the dispersion of an oil spill. The flow dynamics can be time-varying and chaotic,…
This paper addresses the problem of distributed coordination control for multi-robot systems (MRSs) in the presence of localization uncertainty using a Linear Quadratic Gaussian (LQG) approach. We introduce a stochastic LQG control strategy…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
In this paper, we present algorithms for synthesizing controllers to distribute a group (possibly swarms) of homogeneous robots (agents) over heterogeneous tasks which are operated in parallel. We present algorithms as well as analysis for…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
Large-scale environmental sensing with a finite number of mobile sensors is a challenging task that requires a lot of resources and time. This is especially true when features in the environment are spatiotemporally changing with unknown or…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…