相关论文: Noncooperative Herding With Control Barrier Functi…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
We address the challenge of safe control in decentralized multi-agent robotic settings, where agents use uncertain black-box models to predict other agents' trajectories. We use the recently proposed conformal decision theory to adapt the…
We develop a control algorithm that ensures the safety, in terms of confinement in a set, of a system with unknown, 2nd-order nonlinear dynamics. The algorithm establishes novel connections between data-driven and robust, nonlinear control.…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
We present preliminary results on the problem of driving the dynamics of a group of agents, the herders, so as to steer the collective behaviour of another group of agents, the targets, interacting with them. We define this problem as the…
We study the problem of patrolling the nodes of a network collaboratively by a team of mobile agents, such that each node of the network is visited by at least one agent once in every $I(n)$ time units, with the objective of minimizing the…
Swarm robotics is the study of how a large number of relatively simple robots can be designed so that a desired collective behaviour emerges from the local interactions among robots and between the robots and their environment. While many…
In this article, we propose a control architecture for the safe, coordinated operation of a multi-agent system with aerial (UAVs) and ground (UGVs) robots in a confined task space. We consider the case where the aerial and ground operations…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based feedback design formulations, where the nominal cost function…
Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees is through constraint-driven control, where…
Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…
This paper solves the problem of herding countless evaders by means of a few robots. The objective is to steer all the evaders towards a desired tracking reference while avoiding escapes. The problem is very challenging due to the highly…
Animals and robots exist in a physical world and must coordinate their bodies to achieve behavioral objectives. With recent developments in deep reinforcement learning, it is now possible for scientists and engineers to obtain sensorimotor…
Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are two widely used but technically distinct safety methods,…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
Animals have evolved various agile locomotion strategies, such as sprinting, leaping, and jumping. There is a growing interest in developing legged robots that move like their biological counterparts and show various agile skills to…