相关论文: Fast and In Sync: Periodic Swarm Patterns for Quad…

Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm, an ultra-lightweight and scalable planner designed…

We present a new version of our previously proposed algorithm enabling a swarm of robots to construct a desired shape from objects in the plane. We also describe a hardware realization for this system which makes use of simple and readily…

Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…

In this paper, we introduce a natural dynamical analogue of crystalline order, which we call choreographic order. In an ordinary (static) crystal, a high degree of symmetry may be achieved through a careful arrangement of the fundamental…

Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the state-of-the-art of aerial swarms in navigation speed and robustness is of tremendous benefit.…

Drones have become essential in various applications, but conventional quadrotors face limitations in confined spaces and complex tasks. Deformable drones, which can adapt their shape in real-time, offer a promising solution to overcome…

In the literature, a distributed consensus protocol by which a connected swarm of agents can generate artistic patterns in 2-dimensional space is proposed. Motivated by this protocol, in this paper, we design the parameters of this protocol…

Reinforcement learning (RL) has shown promise in creating robust policies for robotics tasks. However, contemporary RL algorithms are data-hungry, often requiring billions of environment transitions to train successful policies. This…

Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion…

We present flight patterns for a collision-free passage of swarms of drones through one or more openings. The narrow openings provide drones with access to an infrastructure component such as charging stations to charge their depleted…

Quadrotors with large thrust-to-weight ratios are able to track aggressive trajectories with sharp turns and high accelerations. In this work, we develop a search-based trajectory planning approach that exploits the quadrotor…

The Dancing problem requires a swarm of $n$ autonomous mobile robots to form a sequence of patterns, aka perform a choreography. Existing work has proven that some crucial restrictions on choreographies and initial configurations (e.g., on…

We demonstrate the possibility of learning drone swarm controllers that are zero-shot transferable to real quadrotors via large-scale multi-agent end-to-end reinforcement learning. We train policies parameterized by neural networks that are…

Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent…

For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory planning algorithm for a quadrotor swarm that operates…

This paper proposes the problem of modeling video sequences of dynamic swarms (DS). We define DS as a large layout of stochastically repetitive spatial configurations of dynamic objects (swarm elements) whose motions exhibit local…

Unmanned Aerial Vehicles (UAVs) have a great potential to support search tasks in unstructured environments. Small, lightweight, low speed and agile UAVs, such as multi-rotors platforms can incorporate many kinds of sensors that are…

In this paper, a hierarchical multi-UAV simulation platform,called XTDrone, is designed for UAV swarms, which is completely open-source 4 . There are six layers in XTDrone: communication, simulator,low-level control, high-level control,…

This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…

The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…