相关论文: Multiple noncooperative targets encirclement by re…

The question tackled here is the time allocation of radars in a multitarget environment. At a given time radars can only observe a limited part of the space; it is therefore necessary to move their axis with respect to time, in order to be…

Targets search and detection encompasses a variety of decision problems such as coverage, surveillance, search, observing and pursuit-evasion along with others. In this paper we develop a multi-agent deep reinforcement learning (MADRL)…

Integrated sensing and communication (ISAC) in the near-field regime offers the potential to jointly support high-rate downlink transmission and high-resolution multi-target detection by exploiting the spherical-wave nature of…

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…

Herein, an interference-aware predictive aerial-and-terrestrial communication problem is studied, where an unmanned aerial vehicle (UAV) delivers some data payload to a few nodes within a communication deadline. The first challenge is the…

This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…

This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…

The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…

Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a…

Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide…

Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and…

Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…

Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…

Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homogeneous agents that are subject to unicycle kinematic…

In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…

This paper delves into a rendezvous scenario involving a chaser and a target spacecraft, focusing on the application of Model Predictive Control (MPC) to design a controller capable of guiding the chaser toward the target. The operational…

The optimal coordination rates are determined in three primary settings of multi-user quantum networks, thus characterizing the minimal resources required in order to simulate a joint quantum state among multiple parties. We study the…

In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…

Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety…

This paper introduces an approach to address the target enclosing problem using non-holonomic multiagent systems, where agents self-organize on the enclosing shape around a fixed target. In our approach, agents independently move toward the…