相关论文: Robust Distributed Control within a Curve Virtual …

We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms,…

Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…

To achieve successful field autonomy, mobile robots need to freely adapt to changes in their environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often assume the space around the reference trajectory is free, but…

This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…

In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…

This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…

The paper focuses on a heterogeneous swarm of drones to achieve a dynamic landing of formation on a moving robot. This challenging task was not yet achieved by scientists. The key technology is that instead of facilitating each agent of the…

This paper addresses the need for fast, lightweight, vision-guided swarming under limited computation and no explicit communication network or position source. The study develops a multi-agent optic flow sensing framework, then integrates…

Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…

Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…

In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between…

In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…

Micro robotics is quickly emerging to be a promising technological solution to many medical treatments with focus on targeted drug delivery. They are effective when working in swarms whose individual control is mostly infeasible owing to…

Relative state estimation is crucial for vision-based swarms to estimate and compensate for the unavoidable drift of visual odometry. For autonomous drones equipped with the most compact sensor setting -- a stereo camera that provides a…

Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…

In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via robot swarms holds transformative potential for logistics and…

Swarm robots, which are inspired from the way insects behave collectively in order to achieve a common goal, have become a major part of research with applications involving search and rescue, area exploration, surveillance etc. In this…

In this paper we propose an algorithm for path following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level…

Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…

This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…