相关论文: Spontaneous-Ordering Platoon Control for Multirobo…

Accurately following a geometric desired path in a two-dimensional space is a fundamental task for many engineering systems, in particular mobile robots. When the desired path is occluded by obstacles, it is necessary and crucial to…

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…

Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling…

Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path finding (MAPF) methods are broadly adopted due to their…

In this paper we propose MA-DV2F: Multi-Agent Dynamic Velocity Vector Field. It is a framework for simultaneously controlling a group of vehicles in challenging environments. DV2F is generated for each vehicle independently and provides a…

In this paper, we propose an autonomous UAV path planning framework using deep reinforcement learning approach. The objective is to employ a self-trained UAV as a flying mobile unit to reach spatially distributed moving or static targets in…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

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…

A path-following control algorithm enables a system's trajectories under its guidance to converge to and evolve along a given geometric desired path. There exist various such algorithms, but many of them can only guarantee local convergence…

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…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

For the task of moving a group of indistinguishable agents on a connected graph with unit edge lengths into an arbitrary goal formation, it was previously shown that distance optimal paths can be scheduled to complete with a tight…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

Vector fields are advantageous in handling nonholonomic motion planning as they provide reference orientation for robots. However, additionally incorporating curvature constraints becomes challenging, due to the interconnection between the…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

In this paper, a novel deep reinforcement learning (DRL)-based method is proposed to navigate the robot team through unknown complex environments, where the geometric centroid of the robot team aims to reach the goal position while avoiding…

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…

Autonomous navigation of mobile robots is a well studied problem in robotics. However, the navigation task becomes challenging when multi-robot systems have to cooperatively navigate dynamic environments with deadlock-prone layouts. We…

With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…

This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…