相关论文: Swarm Intelligence in Collision-free Formation Con…

Building a reliable and efficient collision avoidance system for unmanned aerial vehicles (UAVs) is still a challenging problem. This research takes inspiration from locusts, which can fly in dense swarms for hundreds of miles without…

In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

In this paper we consider the problem of navigation and motion control in an area densely populated with other agents. We propose an algorithm that, without explicit communication and based on the information it has, computes the best…

Recent breakthroughs in multimodal large language models (MLLMs) have endowed AI systems with unified perception, reasoning and natural-language interaction across text, image and video streams. Meanwhile, Unmanned Aerial Vehicle (UAV)…

This paper introduces an end-to-end trajectory planning algorithm tailored for multi-UAV systems that generates collision-free trajectories in environments populated with both static and dynamic obstacles, leveraging point cloud data. Our…

Integration of reinforcement learning with unmanned aerial vehicles (UAVs) to achieve autonomous flight has been an active research area in recent years. An important part focuses on obstacle detection and avoidance for UAVs navigating…

This paper presents an expert-guided active-inference-inspired framework for adaptive UAV swarm trajectory planning. The proposed method converts multi-UAV trajectory design from a repeated combinatorial optimization problem into a…

This article presents a unique framework for deploying decentralized and infrastructure-independent swarms of homogeneous aerial vehicles in the real world without explicit communication. This is a requirement in swarm research, which…

In this study, we propose a new sheepdog-inspired control method for a swarm of small unmanned aerial vehicles (UAVs), which predicts the swarm behavior while explicitly accounting for the motion constraints of real robots.…

We introduce AttentionSwarm, a novel benchmark designed to evaluate safe and efficient swarm control in a dynamic drone racing scenario. Central to our approach is the Attention Model-Based Control Barrier Function (CBF) framework, which…

Unmanned aerial vehicle (UAV) swarms are increasingly explored for their potentials in various applications such as surveillance, disaster response, and military. However, UAV swarms face significant challenges of implementing effective and…

In this paper,we design a formation control systrm for multi-unmanned ground vehicles(UGV) from the prospective of path planning and path tracking.The master-slave control is adopted by electing out a main vehicle to address the problem of…

The effectiveness of collective navigation of biological or artificial agents requires to accommodate for contrasting requirements, such as staying in a group while avoiding close encounters and at the same time limiting the energy…

Path Planning methods for autonomously controlling swarms of unmanned aerial vehicles (UAVs) are gaining momentum due to their operational advantages. An increasing number of scenarios now require autonomous control of multiple UAVs, as…

This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing…

A system of cooperative unmanned aerial vehicles (UAVs) is a group of agents interacting with each other and the surrounding environment to achieve a specific task. In contrast with a single UAV, UAV swarms are expected to benefit…

The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…

This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…

One of the major motifs in collective or swarm intelligence is that, even though individuals follow simple rules, the resulting global behavior can be complex and intelligent. In artificial swarm systems, such as swarm robots, the goal is…