相关论文: Distributed Formation Shape Control of Identity-le…

We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…

We present a novel method for guiding a large-scale swarm of autonomous agents into a desired formation shape in a distributed and scalable manner. Our Probabilistic Swarm Guidance using Inhomogeneous Markov Chains (PSG-IMC) algorithm…

Automatic design is a promising approach to realizing robot swarms. Given a mission to be performed by the swarm, an automatic method produces the required control software for the individual robots. Automatic design has concentrated on…

The control and modeling of robot dynamics have increasingly adopted model-free control strategies using machine learning. Given the non-linear elastic nature of bionic robotic systems, learning-based methods provide reliable alternatives…

In many practical scenarios, multi-robot systems are envisioned to support humans in executing complicated tasks within structured environments, such as search-and-rescue tasks. We propose a framework for a multi-robot swarm to fulfill…

In this paper, we consider stochastic coverage of bounded domains by a diffusing swarm of robots that take local measurements of an underlying scalar field. We introduce three control methodologies with diffusion, advection, and reaction as…

Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically,…

We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…

This paper studies the problem of multi-robot pursuit of how to coordinate a group of defending robots to capture a faster attacker before it enters a protected area. Such operation for defending robots is challenging due to the unknown…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…

We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learning algorithms that cannot classify novel observations…

The cooperative localization (CL) problem in heterogeneous robotic systems with different measurement capabilities is investigated in this work. In practice, heterogeneous sensors lead to directed and sparse measurement topologies, whereas…

This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…

The Arbitrary Pattern Formation problem asks to design a distributed algorithm that allows a set of autonomous mobile robots to form any specific but arbitrary geometric pattern given as input. The problem has been extensively studied in…

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,…

In this work, we analyze \textit{stochastic coverage schemes} (SCS) for robotic swarms in which the robots randomly attach to a one-dimensional boundary of interest using local communication and sensing, without relying on global position…

Robots in our daily surroundings are increasing day by day. Their usability and acceptability largely depend on their explicit and implicit interaction capability with fellow human beings. As a result, social behavior is one of the most…

The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…

We consider a distributed system consisting of autonomous mobile computing entities, called robots, moving in a specified space. The robots are anonymous, oblivious, and have neither any access to the global coordinate system nor any…