相关论文: Multiagent Control of Self-reconfigurable Robots

We present Skill Transformer, an approach for solving long-horizon robotic tasks by combining conditional sequence modeling and skill modularity. Conditioned on egocentric and proprioceptive observations of a robot, Skill Transformer is…

The automation of internal logistics and inventory-related tasks is one of the main challenges of modern-day manufacturing corporations since it allows a more effective application of their human resources. Nowadays, Autonomous Mobile…

Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual agents, the difference in the positions in aligned coordinate…

There is a lack of autonomy on traditional Robot-Assisted Therapy systems interacting with children with autism. To overcome this limitation a supervised autonomous robot controller is being built. In this paper we present a multilayer…

The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…

Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…

A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states,…

Several design parameters in collective robotic systems have been investigated and developed in order to explore the cooperation among the autonomous robotic individuals in a variety of robotic swarms in the presence of different internal…

This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…

Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…

Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for…

Turn-taking behaviour is simulated in a coupled agents system. Each agent is modelled as a mobile robot with two wheels. A recurrent neural network is used to produce the motor outputs and to hold the internal dynamics. Agents are developed…

This paper addresses the coverage control problem of multi-agent systems in the uncertain environment. With the aid of Voronoi partition, a distributed coverage control formulation of multi-agent system is proposed to complete the workload…

The automation of factories and manufacturing processes has been accelerating over the past few years, boosted by the Industry 4.0 paradigm, including diverse scenarios with mobile, flexible agents. Efficient coordination between mobile…

Recent advances in large-scale machine learning have produced high-capacity foundation models capable of adapting to a broad array of downstream tasks. While such models hold great promise for robotics, the prevailing paradigm still…

Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…

In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built…

Systems integration is a difficult matter particularly when its components are varied. The problem becomes even more difficult when such components are heterogeneous such as humans, robots and software systems. Currently, the humans are…

Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…

Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body…