相关论文: Leader-Follower 3D Formation for Underwater Robots
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent…
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…
We study the fluid dynamics of two fish-like bodies with synchronised swimming patterns. Our studies are based on two-dimensional simulations of viscous incompressible flows. We distinguish between motion patterns that are externally…
In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables…
Coordinated multi-robot navigation is an essential ability for a team of robots operating in diverse environments. Robot teams often need to maintain specific formations, such as wedge formations, to enhance visibility, positioning, and…
This paper presents a decentralized leader-follower multi-robot formation control based on a reinforcement learning (RL) algorithm applied to a swarm of small educational Sphero robots. Since the basic Q-learning method is known to require…
Depending on multiple parameters, soft robots can exhibit different modes of locomotion that are difficult to model numerically. As a result, improving their performance is complex, especially in small-scale systems characterized by low…
Easily accessible sensors, like drones with diverse onboard sensors, have greatly expanded studying animal behavior in natural environments. Yet, analyzing vast, unlabeled video data, often spanning hours, remains a challenge for machine…
Navigating networked robot swarms often requires knowing where to go, sensing the environment, and path-planning based on the destination and barriers in the environment. Such a process is computationally intensive. Moreover, as the network…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
In this paper we show the application of the new robotic multi-platform system HSURF to a specific use case of teleoperation, aimed at monitoring and inspection. The HSURF system, consists of 3 different kinds of platforms: floater, sinker…
Artificially evolving foraging behavior in simulated legged animals has proved to be a notoriously difficult task. Here, we co-evolve the morphology and controller for virtual organisms in a three-dimensional physically realistic…
Dynamic modeling has been capturing attention for its fundamentality in precise locomotion analyses and control of underwater robots. However, the existing researches have mainly focused on investigating two-dimensional motion of underwater…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
This paper considers the perception safety problem in distributed vision-based leader-follower formations, where each robot uses onboard perception to estimate relative states, track desired setpoints, and keep the leader within its camera…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
The pursuit of agile and efficient underwater robots, especially bio-mimetic robotic fish, has been impeded by challenges in creating motion controllers that are able to fully exploit their hydrodynamic capabilities. This paper addresses…
The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…
Many swarm robotics tasks consist of multiple conflicting objectives. This research proposes a multi-objective evolutionary neural network approach to developing controllers for swarms of robots. The swarm robot controllers are trained in a…