相关论文: Cooperative control of multi-agent systems to loca…
Finding the distant source of an odor dispersed by a turbulent flow is a vital task for many organisms, either for foraging or for mating purposes. At the level of individual search, animals like moths have developed effective strategies to…
Benefitting from UAVs' characteristics of flexible deployment and controllable movement in 3D space, odor source localization with multiple UAVs has been a hot research area in recent years. Considering the limited resources and…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
This paper studies the cooperative source seeking problem via a networked multi-vehicle system. In contrast to existing literature, the multi-vehicle system is controlled to the source position that maximizes aggregated multiple unknown…
The problem of locating an odor source in turbulent flows is central to key applications such as environmental monitoring and disaster response. We address this challenge by designing an algorithm based on Bayesian inference, which uses…
Locating the source of odor in a turbulent environment - a common behavior for living organisms - is non-trivial because of the random nature of mixing. Here we analyze the statistical physics aspects of the problem and propose an efficient…
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,…
Odor source localization is a fundamental challenge in molecular communication, environmental monitoring, disaster response, industrial safety, and robotics. In this study, we investigate three major approaches: Bayesian filtering, machine…
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…
Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
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…
In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-board sensor systems, which measure the source local field,…
Many modern software systems are built as a set of autonomous software components (also called agents) that collaborate with each other and are situated in an environment. To keep these multiagent systems operational under abnormal…
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 studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…
We investigate the role of policy heterogeneity in enhancing the olfactory search capabilities of cooperative agent swarms operating in complex, real-world turbulent environments. Using odor fields from direct numerical simulations of the…
This paper addresses the problem of target detection and localisation in a limited area using multiple coordinated agents. The swarm of Unmanned Aerial Vehicles (UAVs) determines the position of the dispersion of stack effluents to a gas…
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 work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems…