相关论文: Quantitative Assessment of Robotic Swarm Coverage
Astrobots are robotic artifacts whose swarms are used in astrophysical studies to generate the map of the observable universe. These swarms have to be coordinated with respect to various desired observations. Such coordination are so…
Recent years have seen an increased interest in using mean-field density based modelling and control strategy for deploying robotic swarms. In this paper, we study how to dynamically deploy the robots subject to their physical constraints…
In many statistical and econometric applications, we gather individual samples from various interconnected populations that undeniably exhibit common latent structures. Utilizing a model that incorporates these latent structures for such…
Active fault tolerance is essential for robot swarms to retain long-term autonomy. Previous work on swarm fault tolerance focuses on reacting to electro-mechanical faults that are spontaneously injected into robot sensors and actuators.…
One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations, such as movement congestion and communication conflicts,…
Swarms of drones are being more and more used in many practical scenarios, such as surveillance, environmental monitoring, search and rescue in hardly-accessible areas, etc.. While a single drone can be guided by a human operator, the…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
In swarm robotics, decentralized control is often proposed as a more scalable and fault-tolerant alternative to centralized control. However, centralized behaviors are often faster and more efficient than their decentralized counterparts.…
This work studies how to estimate the mean-field density of large-scale systems in a distributed manner. Such problems are motivated by the recent swarm control technique that uses mean-field approximations to represent the collective…
Achieving scalable coordination in large robotic swarms is often constrained by reliance on inter-agent communication, which introduces latency, bandwidth limitations, and vulnerability to failure. To address this gap, a decentralized…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Robot swarms offer the potential to bring several advantages to the real-world applications but deploying them presents challenges in ensuring feasibility across diverse environments. Assessing the feasibility of new tasks for swarms is…
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…
Microrobotics has the potential to revolutionize many applications including targeted material delivery, assembly, and surgery. The same properties that promise breakthrough solutions---small size and large populations---present unique…
We present an approach to the distributed storage of data across a swarm of mobile robots that forms a shared global memory. We assume that external storage infrastructure is absent, and that each robot is capable of devoting a quota of…
State estimation is a fundamental requirement in robotics, where the accurate determination of a robot's state is essential for stable operation despite inherent process disturbances and sensor noise. Traditionally, this is achieved through…
Recent protocols and metrics for training and evaluating autonomous robot navigation through crowds are inconsistent due to diversified definitions of "social behavior". This makes it difficult, if not impossible, to effectively compare…
One of the goals of active information acquisition using multi-robot teams is to keep the relative uncertainty in each region at the same level to maintain identical acquisition quality (e.g., consistent target detection) in all the…
This paper addresses a task allocation problem for a large-scale robotic swarm, namely swarm distribution guidance problem. Unlike most of the existing frameworks handling this problem, the proposed framework suggests utilising local…
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…