相关论文: Connectivity-Preserving Swarm Teleoperation With A…

There are many well-studied swarming algorithms which are often suited to very specific purposes. As mobile sensor networks become increasingly complex, and are comprised of more and more agents, it makes sense to consider swarming…

Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…

Today's communication networks have stringent availability requirements and hence need to rapidly restore connectivity after failures. Modern networks thus implement various forms of fast reroute mechanisms in the data plane, to bridge the…

The deployment of autonomous drone swarms in disaster response missions necessitates the development of flexible, scalable, and robust coordination systems. Traditional fixed architectures struggle to cope with dynamic and unpredictable…

Swarm protocols are a recently introduced formalism for specifying, implementing, and verifying peer-to-peer systems called swarms. A swarm consists of distributed agents called machines that communicate by asynchronous event propagation.…

Formation control problem is one of the most concerned topics within the realm of swarm intelligence, which is usually solved by conventional mathematical approaches. In this paper, however, we presents a metaheuristic approach that…

Swarm Intelligence-based optimization techniques combine systematic exploration of the search space with information available from neighbors and rely strongly on communication among agents. These algorithms are typically employed to solve…

Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…

Feedback control is an effective strategy for stabilizing a desired state and has been widely adopted in maintaining the stability of systems such as flying birds and power grids. By default, this framework requires continuous control input…

This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…

Submodular maximization has been widely used in many multi-robot task planning problems including information gathering, exploration, and target tracking. However, the interplay between submodular maximization and communication is rarely…

This paper addresses the problem of controlling the temporal dynamics of complex nonlinear network-coupled dynamical systems, specifically in terms of neurodynamics. Based on the Lyapunov direct method, we derive a control strategy with…

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…

Swarms are self-organized dynamical coupled agents which evolve from simple rules of communication. They are ubiquitous in nature, and be- coming more prominent in defense applications. Here we report on a preliminary study of swarm…

The tree is an essential data structure in many applications. In a distributed application, such as a distributed file system, the tree is replicated.To improve performance and availability, different clients should be able to update their…

The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…

Networked robotic systems, such as connected vehicle platoons, can improve the safety and efficiency of transportation networks by allowing for high-speed coordination. To enable such coordination, these systems rely on networked…

In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…

This paper summarizes in depth the state of the art of aerial swarms, covering both classical and new reinforcement-learning-based approaches for their management. Then, it proposes a hybrid AI system, integrating deep reinforcement…

Automatic design is a promising approach to realizing robot swarms. Given a mission to be performed by the swarm, an automatic method produces the required control software for the individual robots. Automatic design has concentrated on…