相关论文: Flocking behavior for dynamic and complex swarm st…
This paper investigates the semantic communication and cooperative tracking control for an UAV swarm comprising a leader UAV and a group of follower UAVs, all interconnected via unreliable wireless multiple-input-multiple-output (MIMO)…
Unmanned aerial vehicle (UAV) swarms are increasingly deployed in vast low-altitude applications, owing to their capabilities in distributed sensing, flexible communication, and autonomous coordination. Nevertheless, the open and highly…
Aerial operation in turbulent environments is a challenging problem due to the chaotic behavior of the flow. This problem is made even more complex when a team of aerial robots is trying to achieve coordinated motion in turbulent wind…
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…
Robot swarms navigating through unknown obstacle environments are an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making,…
We propose an algorithm for creating stable, ordered, swarms of active robotic agents arranged in any given pattern. The strategy involves suppressing a class of fluctuations known as "non-affine" displacements, viz. those involving…
In this paper, we present a model describing the collective motion of birds. The model introduces spontaneous changes in direction which are initialized by few agents, here referred as leaders, whose influence act on their nearest…
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…
Management and mission planning over a swarm of unmanned aerial vehicle (UAV) remains to date as a challenging research trend in what regards to this particular type of aircrafts. These vehicles are controlled by a number of ground control…
Biological swarms, such as ant colonies, achieve collective goals through decentralized and stochastic individual behaviors. Similarly, physical systems composed of gases, liquids, and solids exhibit random particle motion governed by…
The aerial flocking of birds, or murmurations, has fascinated observers while presenting many challenges to behavioral study and simulation. We examine how the periphery of murmurations remain well bounded and cohesive. We also investigate…
The deployment of simple emergent behaviors in swarm robotics has been well-rehearsed in the literature. A recent study has shown how self-aggregation is possible in a multitask approach -- where multiple self-aggregation task instances…
Flocking control is essential for multi-robot systems in diverse applications, yet achieving efficient flocking in congested environments poses challenges regarding computation burdens, performance optimality, and motion safety. This paper…
Individual agents in natural systems like flocks of birds or schools of fish display a remarkable ability to coordinate and communicate in local groups and execute a variety of tasks efficiently. Emulating such natural systems into drone…
Drone applications continue to expand across various domains, with flocking offering enhanced cooperative capabilities but introducing significant challenges during initial formation. Existing flocking algorithms often struggle with…
Microscopic models of flocking and swarming takes in account large numbers of interacting individ- uals. Numerical resolution of large flocks implies huge computational costs. Typically for $N$ interacting individuals we have a cost of…
Due to its decentralised, distributed and scalable nature, swarm robotics has great potential for applications ranging from agriculture to environmental monitoring and logistics. Various swarm control methods and algorithms are currently…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
We consider the collective behaviour of active particles that locally align with their neighbours. Agent-based simulation models have previously shown that in one dimension, these particles can form into a flock that maintains its stability…
This paper introduces a testbed to study distributed sensing problems of Unmanned Aerial Vehicles (UAVs) exhibiting swarm intelligence. Several Smart City applications, such as transport and disaster response, require efficient collection…