相关论文: Distributed Formation Shape Control of Identity-le…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
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…
The leader-follower formation control analysis for multiple quad-rotor systems is investigated in this paper. To achieve predefined formation in the three-dimensional air space ($x,y$ and $z$), a novel local tracking control law and a…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
In the literature, a distributed consensus protocol by which a connected swarm of agents can generate artistic patterns in 2-dimensional space is proposed. Motivated by this protocol, in this paper, we design the parameters of this protocol…
In this paper, we propose an approach to the distributed storage and fusion of data for collective perception in resource-limited robot swarms. We demonstrate our approach in a distributed semantic classification scenario. We consider a…
This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…
We propose a method, based on empirical game theory, for a robot operating as part of a team to choose its role within the team without explicitly communicating with team members, by leveraging its knowledge about the team structure. To do…
This document considers the formation control problem for a group of non-holonomic mobile robots under time delayed communications. The agents are assumed to be working under a directed and fixed communication topology. A recently developed…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity…
We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The…
We consider the problem of finding distributed controllers for large networks of mobile robots with interacting dynamics and sparsely available communications. Our approach is to learn local controllers that require only local information…
We present a distributed formation control strategy for agents with a variety of dynamics to achieve a desired planar formation. Our approach is based on the barycentric-coordinate-based (BCB) control, which is fully distributed, does not…
The subject is the localization problem of an underwater swarm of autonomous underwater robots (AUV), in the frame of the HARNESS project; by localization, we mean the relative swarm configuration, i.e., the geometrical shape of the group.…
In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…