相关论文: SwarmHive: Heterogeneous Swarm of Drones for Robus…
Visual traversability estimation is critical for autonomous navigation, but existing VLM-based methods rely on hand-crafted prompts, generalize poorly across embodiments, and output only traversability maps, leaving trajectory generation to…
Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
In this paper, the problem of drone-assisted collaborative learning is considered. In this scenario, swarm of intelligent wireless devices train a shared neural network (NN) model with the help of a drone. Using its sensors, each device…
The Drone Swarm Search project is an environment, based on \textsc{PettingZoo}, that is to be used in conjunction with multi-agent (or single-agent) reinforcement learning algorithms. It is an environment in which the agents (drones), have…
In this paper, we propose a swarming approach and optimize the one-hop delay for interplatoon communications through adjusting the minimum contention window size of each backbone vehicle in two steps. In the first step, we first set a small…
This work investigates the problem of simultaneous tracking and jamming of a rogue drone in 3D space with a team of cooperative unmanned aerial vehicles (UAVs). We propose a decentralized estimation, decision and control framework in which…
Among the available solutions for drone swarm simulations, we identified a gap in simulation frameworks that allow easy algorithms prototyping, tuning, debugging and performance analysis, and do not require the user to interface with…
In this paper we study the dynamic version of the covering problem motivated by the coverage of drones' swarm: Let $S$ be a set of $n$ non-negative weighted points in the plane representing users. Also, consider a set $P$ of $m$ disks that…
We present an approach to the distributed storage of data across a swarm of mobile robots that forms a shared global memory. We assume that external storage infrastructure is absent, and that each robot is capable of devoting a quota of…
To achieve high fidelity haptic rendering of soft objects in a high mobility virtual environment, we propose a novel haptic display DandelionTouch. The tactile actuators are delivered to the fingertips of the user by a swarm of drones.…
Swarm of drones are increasingly being asked to carry out missions that can't be completed by one drone. Particularly, in delivery, issues arise due to the swarm's limited flight endurance. Hence, we propose a novel formation-guided…
We propose a novel system SwarmCloak for landing of a fleet of four flying robots on the human arms using light-sensitive landing pads with vibrotactile feedback. We developed two types of wearable tactile displays with vibromotors which…
Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most research on this topic mainly focuses on single drone scenarios.…
The design and development of swarms of micro-aerial vehicles (MAVs) has recently gained significant traction. Collaborative aerial swarms have potential applications in areas as diverse as surveillance and monitoring, inventory management,…
We propose a novel human-swarm interaction system, allowing the user to directly control a swarm of drones in a complex environment through trajectory drawing with a hand gesture interface based on the DNN-based gesture recognition. The…
To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have…
Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms…
In the area of multi-drone systems, navigating through dynamic environments from start to goal while providing collision-free trajectory and efficient path planning is a significant challenge. To solve this problem, we propose a novel…