相关论文: Collision-Free Continuum Deformation Coordination …
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
Safety is the foremost concern for autonomous platooning. The vehicle-to-vehicle (V2V) communication delay and the sudden appearance of obstacles will trigger the safety of the intended functionality (SOTIF) issues for autonomous…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…
Unmanned aerial vehicle (UAV)-enabled positioning that uses UAVs as aerial anchor nodes is a promising solution for providing positioning services in harsh environments. In previous research, the state sensing and control of UAVs were…
This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…
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.…
This work contributes a novel deep navigation policy that enables collision-free flight of aerial robots based on a modular approach exploiting deep collision encoding and reinforcement learning. The proposed solution builds upon a deep…
A leader-follower framework is proposed for multi-robot navigation of large scale teams where the leader agents corral the follower agents. A group of leaders is modeled as a 2D deformable object where discrete masses (i.e., leader robots)…
This paper addresses the problem of Multi-robot Coverage Path Planning (MCPP) for unknown environments in the presence of robot failures. Unexpected robot failures can seriously degrade the performance of a robot team and in extreme cases…
Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory.…
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…
This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear…