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

This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…

This paper presents a novel methodology that allows a swarm of robots to perform a cooperative transportation task. Our approach consists of modeling the swarm as a {\em Gibbs Random Field} (GRF), taking advantage of this framework's…

This paper demonstrates the ability of the harmonic potential field, HPF, planning method to generate a well-behaved constrained path for a robot with second order dynamics in a cluttered environment. It is shown that HPF-based controllers…

Autonomous ground vehicle (UGV) navigation has the potential to revolutionize the transportation system by increasing accessibility to disabled people, ensure safety and convenience of use. However, UGV requires extensive and efficient…

We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…

We present a distributed model predictive control (DMPC) algorithm to generate trajectories in real-time for multiple robots. We adopted the \textit{on-demand collision avoidance} method presented in previous work to efficiently compute…

Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning…

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…

This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…

This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…

The paper investigates the problem of path planning techniques for multi-copter uncrewed aerial vehicles (UAV) cooperation in a formation shape to examine surrounding surfaces. We first describe the problem as a joint objective cost for…

Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…

Many robotic systems allow independent control of position and orientation (pose), including omnidirectional aerial vehicles, underwater robots, and manipulator end-effectors. In many applications, these systems must follow a continuous…

In this paper, we propose a decentralized coordina- tion algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on a shared…

Given the increasing popularity and demand for connected and autonomous vehicles (CAVs), Eco-driving and platooning in highways and urban areas to increase the efficiency of the traffic system is becoming a possibility. This paper presents…

We propose an algorithm to (i) learn online a deep signed distance function (SDF) with a LiDAR-equipped robot to represent the 3D environment geometry, and (ii) plan collision-free trajectories given this deep learned map. Our algorithm…

Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…

This paper presents a "cooperative vehicle sorting" strategy that seeks to optimally sort connected and automated vehicles (CAVs) in a multi-lane platoon to reach an ideally organized platoon. In the proposed method, a CAV platoon is…

Anticipating the motion of other road users is crucial for automated driving systems (ADS), as it enables safe and informed downstream decision-making and motion planning. Unfortunately, contemporary learning-based approaches for motion…