相关论文: Distributed Control within a Trapezoid Virtual Tub…

Robotic swarm systems are now becoming increasingly attractive for many challenging applications. The main task for any robot is to reach the destination while keeping a safe separation from other robots and obstacles. In many scenarios,…

The planning and control of a robot swarm in a complex environment have attracted increasing attention. To this end, the idea of virtual tubes has been taken up in our previous work. Specifically, a virtual tube with varying widths has been…

In order to guide the multi-agent system in a cluttered environment, a connected quadrangle virtual tube is designed for all agents to keep moving within it, whose basis is called the single trapezoid virtual tube. There is no obstacle…

With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…

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…

This paper presents a novel method for efficiently solving a trajectory planning problem for swarm robotics in cluttered environments. Recent research has demonstrated high success rates in real-time local trajectory planning for swarm…

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. An air traffic management (ATM) system is needed to help ensure that this newest entrant into the skies does not collide with…

The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…

We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…

This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…

With the rapid development of robotics swarm technology, there are more tasks that require the swarm to pass through complicated environments safely and efficiently. Virtual tube technology is a novel way to achieve this goal. Virtual tubes…

Robot swarms navigating through unknown obstacle environments are an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making,…

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…

Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…

We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…

Robot swarms hold immense potential for performing complex tasks far beyond the capabilities of individual robots. However, the challenge in unleashing this potential is the robots' limited sensory capabilities, which hinder their ability…

This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…

This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…

In this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range…

This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…