相关论文: Flocking behavior for dynamic and complex swarm st…

This paper presents a novel zone-based flocking control approach suitable for dynamic multi-agent systems (MAS). Inspired by Reynolds behavioral rules for $boids$, flocking behavioral rules with the zones of repulsion, conflict, attraction,…

Suitably equipped with cameras and sensors, uncrewed aerial vehicles (UAVs) can be instrumental for wildfire prediction, tracking, and monitoring, provided that uninterrupted connectivity can be guaranteed even if some of the ground access…

Formation control is essential for swarm robotics, enabling coordinated behavior in complex environments. In this paper, we introduce a novel formation control system for an indoor blimp swarm using a specialized leader-follower approach…

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and com-mercial users alike. Several types of airspace structures are proposed in recent research, which include several structured free flight concepts. In…

Swarm robots, inspired by the emergence of animal herds, are robots that assemble a large number of modules and self-organize themselves to form specific morphologies and exhibit specific functions. These modular robots perform relatively…

Clustering techniques play an important role in data mining and its related applications. Among the challenging applications that require robust and real-time processing are crowd management and group trajectory applications. In this paper,…

Natural flocks (aligned) and swarms (non-aligned) both exhibit features of near-criticality, challenging their treatment as two ends of the same phase transition. We present a model for the aggregation of active individuals, in which their…

This paper introduces a cooperative and decentralized collision avoidance algorithm (CoDe) for small-scale UAV swarms consisting of up to three UAVs. CoDe improves energy efficiency of UAVs by achieving effective cooperation among UAVs.…

Interest in multimodal function optimization is expanding rapidly since real world optimization problems often demand locating multiple optima within a search space. This article presents a new multimodal optimization algorithm named as the…

This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…

With the increasing demand for heterogeneous Unmanned Aerial Vehicle (UAV) swarms to perform complex tasks in urban environments, system design now faces major challenges, including efficient semantic understanding, flexible task planning,…

There is no convincing evidence that backpropagation is a biologically plausible mechanism, and further studies of alternative learning methods are needed. A novel online clustering algorithm is presented that can produce arbitrary shaped…

We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…

Coherent collective motion is a widely observed phenomenon in active matter systems. Here, we report a flocking transition mechanism in a system of chemically interacting active colloidal particles sustained purely by chemo-repulsive…

The control and guidance of multi-robots (swarm) is a non-trivial problem due to the complexity inherent in the coupled interaction among the group. Whether the swarm is cooperative or non-cooperative, lessons can be learnt from sheepdogs…

Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…

We consider the positioning problem of aerial drone systems for efficient three-dimensional (3-D) coverage. Our solution draws from molecular geometry, where forces among electron pairs surrounding a central atom arrange their positions. In…

Aerial displays of starlings (Sturnus vulgaris) at their communal roosts are complex: thousands of individuals form multiple flocks which are continually changing shape and density, while splitting and merging. To understand these complex…

Natural groups of animals, such as swarms of social insects, exhibit astonishing degrees of task specialization, useful to address complex tasks and to survive. This is supported by phenotypic plasticity: individuals sharing the same…

The schooling behavior of fish is hypothesized to confer many survival benefits, including foraging success, safety from predators, and energy savings through hydrodynamic interactions when swimming in formation. Underwater robot…