相关论文: Leaderless Swarm Formation Control: From Global Sp…
This paper investigates how a novel paradigm called group-control can be effectively used for motion planning for microrobot swarms in a global field. We prove that Small-Time Local Controllability (STLC) in robot positions is achievable…
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.…
This article presents a unique framework for deploying decentralized and infrastructure-independent swarms of homogeneous aerial vehicles in the real world without explicit communication. This is a requirement in swarm research, which…
We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be…
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…
Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables…
The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology manipulation operations that allow the transformation of a…
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative…
Self-organized emergent patterns can be widely seen in particle interactions producing complex structures such as chemical elements and molecules. Inspired by these interactions, this work presents a novel stochastic approach that allows a…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…
There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing…
Classical flocking models demonstrate how local interactions generate emergent order, but real-world multi-agent deployments are bound by severe constraints: limited actuator availability, heterogeneous communication latencies, and…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Collective behavior models, such as aggregation and flocking, usually assume self-propelled robots that can directly execute their desired speed and direction of motion without fundamental constraints. However, autonomous sailing robots…
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…
Robot swarms hold immense potential for performing complex tasks far beyond the capabilities of individual robots. However, the challenge in unleashing this potential is the robots' limited sensory capabilities, which hinder their ability…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
Swarm Robotics is an emerging field of adapting the phenomenon of natural swarms to robotics. It is a study of robots that are aimed to mimic natural swarms, like ants and birds, to form a system that is scalable, flexible, and robust.…