相关论文: Online Flocking Control of UAVs with Mean-Field Ap…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
In recent years, using a network of autonomous and cooperative unmanned aerial vehicles (UAVs) without command and communication from the ground station has become more imperative, in particular in search-and-rescue operations, disaster…
Unmanned aerial vehicle (UAV) communications have been widely accepted as promising technologies to support air-to-ground communications in the forthcoming sixth-generation (6G) wireless networks. This paper proposes a novel air-to-ground…
In this article, we investigate symmetry properties of distributed systems of mobile robots. We consider a swarm of $n\in\mathbb{N}$ robots in the $\mathcal{OBLOT}$ model and analyze their collective $\mathcal{F}$sync dynamics using of…
The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and…
Aerial cargo transport is anticipated to play a pivotal role in the distribution of goods within urban environments. The shift is propelled by the surge in e-commerce, the imperative to deliver essential supplies to isolated areas, and the…
This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…
We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…
Urban Air Mobility (UAM) poses unprecedented traffic coordination challenges, especially with increasing UAV densities in dense urban corridors. This paper introduces a mathematical model using a control algorithm to optimize an Edge…
Unmanned aerial vehicles (UAVs)-enabled aerial communication provides a flexible, reliable, and cost-effective solution for a range of wireless applications. However, due to the high line-of-sight (LoS) probability, aerial communications…
A Collision-Avoiding flocking particle system proposed in [8] is studied in this paper. The global wellposedness of its corresponding Vlasov-type kinetic equation is proved. As a corollary of the global stability result, the mean field…
This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled…
Connected and automated vehicles (CAVs) are viewed as a special kind of robots that have the potential to significantly improve the safety and efficiency of traffic. In contrast to many swarm robotics studies that are demonstrated in labs…
Classical flocking models demonstrate how local interactions generate emergent order, but real-world multi-agent deployments are bound by severe constraints: limited actuator availability, heterogeneous communication latencies, and…
Platooning on highways with connected and automated vehicles (CAVs) has attracted considerable attention, while how to mange and coordinate platoons in urban networks remains largely an open question. This scientific gap mainly results from…
We study the large time behavior of a system of interacting agents modeling the relaxation of a large swarm of robots, whose task is to uniformly cover a portion of the domain by communicating with each other in terms of their distance. To…
This paper investigates the flocking control of a swarm with a malicious agent that falsifies its controller parameters to cause collision, division, and escape of agents in the swarm. A novel geometric flocking condition is established by…
In this paper, we propose SwarmNet -- a neural network architecture that can learn to predict and imitate the behavior of an observed swarm of agents in a centralized manner. Tested on artificially generated swarm motion data, the network…
Flocking control is a challenging problem, where multiple agents, such as drones or vehicles, need to reach a target position while maintaining the flock and avoiding collisions with obstacles and collisions among agents in the environment.…
The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…