相关论文: Neural-Swarm: Decentralized Close-Proximity Multir…

We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation for drones is challenging due to complex aerodynamic…

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…

Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the environment. Conventional control methods often fail to properly…

Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms…

This paper presents a deep reinforcement learning (DRL) based controller for collective navigation of unmanned aerial vehicle (UAV) swarms in communication-denied environments, enabling robust operation in complex, obstacle-rich…

Many swarm robotics tasks consist of multiple conflicting objectives. This research proposes a multi-objective evolutionary neural network approach to developing controllers for swarms of robots. The swarm robot controllers are trained in a…

Decentralized coordination of a robot swarm requires addressing the tension between local perceptions and actions, and the accomplishment of a global objective. In this work, we propose to learn decentralized controllers based on solely raw…

Collision avoidance algorithms are of central interest to many drone applications. In particular, decentralized approaches may be the key to enabling robust drone swarm solutions in cases where centralized communication becomes…

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…

Swarm aerial robots are required to maintain close proximity to successfully traverse narrow areas in cluttered environments. However, this movement is affected by the downwash effect generated from other quadrotors in the swarm. This…

This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…

This study designs and evaluates multiple nonlinear system identification techniques for modeling the UAV swarm system in planar space. learning methods such as RNNs, CNNs, and Neural ODE are explored and compared. The objective is to…

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…

Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…

Dense formation flight with multirotor swarms is a powerful, nature-inspired flight regime with numerous applications in the realworld. However, when multirotors fly in close vertical proximity to each other, the propeller downwash from the…

Swarms of unmanned aerial vehicles (UAVs) are increasingly becoming vital to our society, undertaking tasks such as search and rescue, surveillance and delivery. A special variant of Distributed Model Predictive Control (DMPC) has emerged…

The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…

This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…

This study experimentally validates the principle of large-scale satellite swarm control through learning-aided magnetic field interactions generated by satellite-mounted magnetorquers. This actuation presents a promising solution for the…

We propose a novel human-swarm interaction system, allowing the user to directly control a swarm of drones in a complex environment through trajectory drawing with a hand gesture interface based on the DNN-based gesture recognition. The…