相关论文: Dynamic Formation Reshaping Based on Point Set Reg…
We propose a novel framework for swarm-based drone delivery services with in-flight energy recharging. The framework aims to enhance the delivery time of multiple packages by reducing the number of stops and recharging times at intermediate…
This work contributes to efforts on autonomously detecting a vegetation-occluded target by airborne observers. It investigates and enhances previous work on a Particle Swarm Optimization (PSO) strategy for Airborne Optical Sectioning (AOS)…
Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…
Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot…
This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where…
Drone applications continue to expand across various domains, with flocking offering enhanced cooperative capabilities but introducing significant challenges during initial formation. Existing flocking algorithms often struggle with…
This article introduces a formation shape control algorithm, in the optimal control framework, for steering an initial population of agents to a desired configuration via employing the Gromov-Wasserstein distance. The underlying dynamical…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
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…
With recent advancements in drone technology, researchers are now considering the possibility of deploying small cells served by base stations mounted on flying drones. A major advantage of such drone small cells is that the operators can…
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…
Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
Formation control simplifies minimizing multi-robot cost functions by encoding a cost function as a shape the robots maintain. However, by reducing complex cost functions to formations, discrepancies arise between maintaining the shape and…
In many contexts the modal properties of a structure change, either due to the impact of a changing environment, fatigue, or due to the presence of structural damage. For example during flight, an aircraft's modal properties are known to…
Image registration is fundamental in medical imaging applications, such as disease progression analysis or radiation therapy planning. The primary objective of image registration is to precisely capture the deformation between two or more…
We investigate a variation of the 3D registration problem, named multi-model 3D registration. In the multi-model registration problem, we are given two point clouds picturing a set of objects at different poses (and possibly including…
Current approaches for deformable medical image registration often struggle to fulfill all of the following criteria: versatile applicability, small computation or training times, and the being able to estimate large deformations.…
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…
In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…
This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where…