相关论文: Noncooperative Herding With Control Barrier Functi…

Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…

Implementing obstacle avoidance in dynamic environments is a challenging problem for robots. Model predictive control (MPC) is a popular strategy for dealing with this type of problem, and recent work mainly uses control barrier function…

For efficient and robust task accomplishment in multi-agent systems, an agent must be able to distinguish cooperative agents from non-cooperative agents, i.e., uncooperative and adversarial agents. Task descriptions capturing safety and…

Animals such as rabbits and birds can instantly generate locomotion behavior in reaction to a dynamic, approaching object, such as a person or a rock, despite having possibly never seen the object before and having limited perception of the…

In an environment with certain locations of higher priority, it is required to patrol these locations as frequently as possible due to their importance. However, the Non-Priority locations are often neglected during the task. It is…

In this study, we consider the guidance control problem of the sheepdog system, which involves the guidance of the flock using the characteristics of the sheepdog and sheep. Sheepdog systems require a strategy to guide sheep agents to a…

In this paper, we present a reinforcement learning approach to designing a control policy for a "leader" agent that herds a swarm of "follower" agents, via repulsive interactions, as quickly as possible to a target probability distribution…

In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…

This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…

In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…

This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large…

We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…

Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…

We consider a perimeter defense problem in which a single vehicle seeks to defend a compact region from intruders in a one-dimensional environment parameterized by the perimeter size and the intruder-to-vehicle speed ratio. The intruders…

In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…

Control Barrier Functions (CBFs) are an effective methodology to ensure safety and performative efficacy in real-time control applications such as power systems, resource allocation, autonomous vehicles, robotics, etc. This approach ensures…

A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…

We introduce a dynamic vehicle routing problem in which a single vehicle seeks to guard a circular perimeter against radially inward moving targets. Targets are generated uniformly as per a Poisson process in time with a fixed arrival rate…

Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…

We address a problem of area protection in graph-based scenarios with multiple agents. The problem consists of two adversarial teams of agents that move in an undirected graph shared by both teams. Agents are placed in vertices of the…