相关论文: Connectivity-Preserving Swarm Teleoperation With A…
Jointly achieving safety and efficiency in human-robot interaction (HRI) settings is a challenging problem, as the robot's planning objectives may be at odds with the human's own intent and expectations. Recent approaches ensure safe robot…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
Highly dynamic networks are characterized by frequent changes in the availability of communication links. These networks are often partitioned into several components, which split and merge unpredictably. We present a distributed algorithm…
We consider the problem of finding distributed controllers for large networks of mobile robots with interacting dynamics and sparsely available communications. Our approach is to learn local controllers that require only local information…
Swarm dynamics is the study of collections of agents that interact with one another without central control. In natural systems, insects, birds, fish and other large mammals function in larger units to increase the overall fitness of the…
Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…
This paper studies a defense approach against one or more swarms of adversarial agents. In our earlier work, we employ a closed formation (`StringNet') of defending agents (defenders) around a swarm of adversarial agents (attackers) to…
Smooth coordination within a swarm robotic system is essential for the effective execution of collective robot missions. Having efficient communication is key to the successful coordination of swarm robots. This paper proposes a new…
Swarm stability is concerned for descriptor compartmental networks with linear time-invariant protocol. Compartmental network is a specific type of dynamical multi-agent system. Necessary and sufficient conditions for both consensus and…
In this study, we investigate the emergence of naming conventions within a swarm of robots that collectively forage, that is, collect resources from multiple sources in the environment. While foraging, the swarm explores the environment and…
Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…
Social interaction increases significantly the performance of a wide range of cooperative systems. However, evidence that natural swarms limit the number of social connections suggests potentially detrimental consequences of excessive…
Networks of Unmanned Aerial Vehicles (UAVs), composed of hundreds, possibly thousands of highly mobile and wirelessly connected flying drones will play a vital role in future Internet of Things (IoT) and 5G networks. However, how to control…
Designing controllers for robot swarms is challenging, because human developers have typically no good understanding of the link between the details of a controller that governs individual robots and the swarm behavior that is an indirect…
Suitably equipped with cameras and sensors, uncrewed aerial vehicles (UAVs) can be instrumental for wildfire prediction, tracking, and monitoring, provided that uninterrupted connectivity can be guaranteed even if some of the ground access…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
Cellular-connected unmanned aerial vehicle (UAV) swarm is a promising solution for diverse applications, including cargo delivery and traffic control. However, it is still challenging to communicate with and control the UAV swarm with high…
Minimalistic robot swarms offer a scalable, robust, and cost-effective approach to performing complex tasks with the potential to transform applications in healthcare, disaster response, and environmental monitoring. However, coordinating…
Vehicular ad hoc networks (VANETs) allow vehicles to exchange warning messages with each other. These specific kinds of networks help reduce hazardous traffic situations and improve safety, which are two of the main objectives in developing…
This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomotion and manipulation algorithms in a novel manner, thus…