相关论文: Cooperative Target Capture using Predefined-time C…

This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws…

A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guidance method dubbed EPN is proposed, designed to catch agile…

This work addresses the problem of distributed formation tracking for a group of follower holonomic mobile robots around a reference signal. The reference signal is comprised of the geometric center of the positions of multiple leaders.…

Collaborative Perception (CP) has shown great potential to achieve more holistic and reliable environmental perception in intelligent unmanned systems (IUSs). However, implementing CP still faces key challenges due to the characteristics of…

The leader-following consensus problem for multiple Euler-Lagrange systems was studied recently by the adaptive distributed observer approach under the assumptions that the leader system is neurally stable and the communication network is…

In many real-world problems, a team of agents need to collaborate to maximize the common reward. Although existing works formulate this problem into a centralized learning with decentralized execution framework, which avoids the…

This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…

We analyze the performance of an interference-limited, decode-and-forward, cooperative relaying system that comprises a source, a destination, and $N$ relays, placed arbitrarily on the plane and suffering from interference by a set of…

This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…

In this technical note, we first clarify a technical issue in the convergence proof of a free-will arbitrary time (FwAT) consensus law proposed recently in Pal et al. IEEE Trans. Cybern. (2020)[1], making the results questionable. We then…

This paper studies the problem of coordinating a group of $n$th-order integrator systems. As for the well-studied conventional consensus problem, we consider linear and distributed control with only local and relative measurements. We…

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…

To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…

In this paper, we first establish an exponential stability result for a class of linear switched systems and then apply this result to show the existence of the distributed observer for a discrete-time leader system over jointly connected…

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,…

Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…

As the domain of cyber-physical systems continues to grow, an increasing number of tightly-coupled distributed applications will be implemented on top of wireless networking technologies. Some of these applications, including collaborative…

We present Moving Participants Turtle Consensus (MPTC), an asynchronous consensus protocol for crash and Byzantine-tolerant distributed systems. MPTC uses various moving target defense strategies to tolerate certain Denial-of-Service (DoS)…

The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative…

Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…