相关论文: SwarmHive: Heterogeneous Swarm of Drones for Robus…

This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…

Robotic aerial base stations (RABSs) that are able to anchor at tall urban landforms are expected to bring further flexibility to millimeter-wave (mmWave) multi-hop backhaul networks in highly dense urban environments. In this paper, a…

Swarms are highly robust systems that offer unique benefits compared to their alternatives. In this work, we propose a bio-inspired and artificial potential field-driven robot swarm control method, where the swarm formation dynamics are…

Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm…

Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…

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…

We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…

Swarm User Interfaces allow dynamic arrangement of user environments through the use of multiple mobile robots, but their operational range is typically confined to a single plane due to constraints imposed by their two-wheel propulsion…

In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…

We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…

Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…

We propose a novel framework for the allocation of drone swarms for delivery services known as Swarm-based Drone-as-a-Service (SDaaS). The allocation framework ensures minimum cost (aka maximum profit) to drone swarm providers while meeting…

Collaborative trajectory prediction can comprehensively forecast the future motion of objects through multi-view complementary information. However, it encounters two main challenges in multi-drone collaboration settings. The expansive…

Drones are begin used for various purposes such as border security, surveillance, cargo delivery, visual shows and it is not possible to overcome such intensive tasks with a single drone. In order to expedite performing such tasks, drone…

We propose a Self-Regulated Swarm (SRS) algorithm which hybridizes the advantageous characteristics of Swarm Intelligence as the emergence of a societal environmental memory or cognitive map via collective pheromone laying in the landscape…

Detecting spoofing attacks on the positions of unmanned aerial vehicles (UAVs) within a swarm is challenging. Traditional methods relying solely on individually reported positions and pairwise distance measurements are ineffective in…

Networks of Unmanned Aerial Vehicles (UAVs), composed of hundreds, possibly thousands of highly mobile and wirelessly connected flying drones will play a vital role in future Internet of Things (IoT) and 5G networks. However, how to control…

This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…

Swarm perception refers to the ability of a robot swarm to utilize the perception capabilities of each individual robot, forming a collective understanding of the environment. Their distributed nature enables robot swarms to continuously…

Due to their ability to anchor into tall urban landforms, such as lampposts or street lights, robotic aerial base stations (RABSs) can create a hyper-flexible wireless multi-hop heterogeneous network to meet the forthcoming green,…