相关论文: Collective transport via sequential caging

Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…

Purpose: To present an algorithm for spatially sorting objects into an annular structure. Design/Methodology/Approach: A swarm-based model that requires only stochastic agent behaviour coupled with a pheromone-inspired…

We present a fully integrated autonomous multi- robot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple relevant problems in search and rescue (SAR) robotics such as…

Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically,…

Collaborative perception holds great promise for improving safety in autonomous driving, particularly in dense traffic where vehicles can share sensory information to overcome individual blind spots and extend awareness. However, deploying…

Simultaneously grasping and delivering multiple objects can significantly enhance robotic work efficiency and has been a key research focus for decades. The primary challenge lies in determining how to push objects, group them, and execute…

In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic information transferred through the object with the human…

The deployment of simple emergent behaviors in swarm robotics has been well-rehearsed in the literature. A recent study has shown how self-aggregation is possible in a multitask approach -- where multiple self-aggregation task instances…

The mine detection in an unexplored area is an optimization problem where multiple mines, randomly distributed throughout an area, need to be discovered and disarmed in a minimum amount of time. We propose a strategy to explore an unknown…

The importance of swarm robotics systems in both academic research and real-world applications is steadily increasing. However, to reach widespread adoption, new models that ensure the secure cooperation of large groups of robots need to be…

We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the…

Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…

We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…

A novel approach for achieving fast evasion in self-localized swarms of Unmanned Aerial Vehicles (UAVs) threatened by an intruding moving object is presented in this paper. Motivated by natural self-organizing systems, the presented…

We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…

Two fundamental problems of distributed computing are Gathering and Arbitrary pattern formation (\textsc{Apf}). These two tasks are different in nature as in gathering robots meet at a point but in \textsc{Apf} robots form a fixed pattern…

In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…

In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under…

Object transportation in cluttered environments is a fundamental task in various domains, including domestic service and warehouse logistics. In cooperative object transport, multiple robots must coordinate to move objects that are too…

Collaborating teams of robots show promise due in their ability to complete missions more efficiently and with improved robustness, attributes that are particularly useful for systems operating in marine environments. A key issue is how to…