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Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…

In this paper, we describe an approach to achieve dynamic legged locomotion on physical robots which combines existing methods for control with reinforcement learning. Specifically, our goal is a control hierarchy in which highest-level…

In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…

In the literature, a distributed consensus protocol by which a connected swarm of agents can generate artistic patterns in 2-dimensional space is proposed. Motivated by this protocol, in this paper, we design the parameters of this protocol…

Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…

This paper explores a novel extension of dynamic matching theory by analyzing a three-way matching problem involving agents from three distinct populations, each with two possible types. Unlike traditional static or two-way dynamic models,…

This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…

We revisit the linear search problem where a robot, initially placed at the origin on an infinite line, tries to locate a stationary target placed at an unknown position on the line. Unlike previous studies, in which the robot travels along…

This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…

Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…

Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…

An essential problem of swarm robotics is how members of the swarm knows the positions of other robots. The main aim of this research is to develop a cost-effective and simple vision-based system to detect the range, bearing, and heading of…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

In this paper, a combined formation acquisition and cooperative extremum seeking control scheme is proposed for a team of three robots moving on a plane. The extremum seeking task is to find the maximizer of an unknown two-dimensional…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…