相关论文: Decentralized Connectivity Maintenance for Multi-r…

Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

In this paper, we propose a decentralized coordina- tion algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on a shared…

The robustness of image recognition algorithms remains a critical challenge, as current models often depend on large quantities of labeled data. In this paper, we propose a hybrid approach that combines the adaptability of neural networks…

This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…

This paper analyzes consensus in multi-agent systems under uniform and nonuniform communication delays, a key challenge in distributed coordination with applications to robotic swarms. It investigates the convergence of a consensus…

We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…

This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

Decentralized stochastic control problems with local information involve problems where multiple agents and subsystems which are coupled via dynamics and/or cost are present. Typically, however, the dynamics of such couplings is complex and…

We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…

We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…

Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from…

We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…

Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…

This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…

High-speed, low-latency obstacle avoidance that is insensitive to sensor noise is essential for enabling multiple decentralized robots to function reliably in cluttered and dynamic environments. While other distributed multi-agent collision…

In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or…

Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g.,…

This paper considers the decentralized convex optimization problem, which has a wide range of applications in large-scale machine learning, sensor networks, and control theory. We propose novel algorithms that achieve optimal computation…