相关论文: Cooperative Object Transportation using Gibbs Rand…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
In the field of swarm robotics, one of the most studied problem is Gathering. It asks for a distributed algorithm that brings the robots to a common location, not known in advance. We consider the case of robots constrained to move along…
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming…
Active matter physics and swarm robotics have provided powerful tools for the study and control of ensembles driven by internal sources. At the macroscale, controlling swarms typically utilizes significant memory, processing power, and…
The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…
Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm…
In this work we establish a simple yet effective strategy, based on optimal transport theory, for enabling a group of robots to accomplish complex tasks, such as shape formation and assembly. We demonstrate the feasibility of this approach…
As the presence of autonomous robots in public spaces increases-whether navigating campus walkways or neighborhood sidewalks-understanding how to carefully study these robots becomes critical. While HRI research has conducted field studies…
In this work, we propose a minimalistic swarm flocking approach for multirotor unmanned aerial vehicles (UAVs). Our approach allows the swarm to achieve cohesively and aligned flocking (collective motion), in a random direction, without…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
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…
This work proposes a novel cooperative transportation framework for multi-agent systems that does not require any prior knowledge of cargo locations or sizes. Each agent relies on local sensing to detect cargos, recruit nearby agents, and…
Cooperative transportation, a key aspect of logistics cyber-physical systems (CPS), is typically approached using dis tributed control and optimization-based methods. The distributed control methods consume less time, but poorly handle and…
We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force…