相关论文: Communication-free Cohesive Flexible-Object Transp…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…

We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…

Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most…

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…

An occlusion based strategy for collective transport of a concave object using a swarm of mobile robots has been proposed in this paper. We aim to overcome the challenges of transporting concave objects using decentralized approach. The…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

Decentralized optimization methods enable on-device training of machine learning models without a central coordinator. In many scenarios communication between devices is energy demanding and time consuming and forms the bottleneck of the…

With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…

How a network gets to the goal (a consensus value) can be as important as reaching the consensus value. While prior methods focus on rapidly getting to a new consensus value, maintaining cohesion, during the transition between consensus…

In decentralized optimization, nodes cooperate to minimize an overall objective function that is the sum (or average) of per-node private objective functions. Algorithms interleave local computations with communication among all or a subset…

Coherent communications aim to support higher data rates and extended connectivity at lower power consumption compared with traditional point-to-point transmissions. The typical setting of coherent communication schemes is based on a single…

We show that a distributed network of robots or other devices which make measurements of each other can collaborate to globally localise via efficient ad-hoc peer to peer communication. Our Robot Web solution is based on Gaussian Belief…

We propose an efficient protocol for decentralized training of deep neural networks from distributed data sources. The proposed protocol allows to handle different phases of model training equally well and to quickly adapt to concept…

This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…

Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…

Future wireless network technology provides automobiles with the connectivity feature to consolidate the concept of vehicular networks that collaborate on conducting cooperative driving tasks. The full potential of connected vehicles, which…

In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…

This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…

We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…