相关论文: A Collective Motion Algorithm for Tracking Time-De…

This paper presents a novel distributed algorithm for tracking a maneuvering target using bearing or direction of arrival measurements collected by a networked sensor array. The proposed approach is built on the dynamic average-consensus…

We study the collective motion of autonomous mobile agents on a ringlike environment. The agents' dynamics is inspired by known laboratory experiments on the dynamics of locust swarms. In these experiments, locusts placed at arbitrary…

Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…

This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…

Understanding the dynamics of an environment, such as the movement of humans and vehicles, is crucial for agents to achieve long-term autonomy in urban environments. This requires the development of methods to capture the multi-modal and…

This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…

We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…

Detecting and segmenting individual objects, regardless of their category, is crucial for many applications such as action detection or robotic interaction. While this problem has been well-studied under the classic formulation of…

Agent-based models (ABMs) are proliferating as decision-making tools across policy areas in transportation, economics, and epidemiology. In these models, a central object of interest is the discrete origin-destination matrix which captures…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…

Context plays a significant role in the generation of motion for dynamic agents in interactive environments. This work proposes a modular method that utilises a learned model of the environment for motion prediction. This modularity…

Spatiotemporal data is increasingly available due to emerging sensor and data acquisition technologies that track moving objects. Spatiotemporal clustering addresses the need to efficiently discover patterns and trends in moving object…

Algorithms for multi-agent systems to locate a source or to follow a desired level curve of spatially distributed scalar fields generally require sharing field measurements among the agents for gradient estimation. Yet, in this paper, we…

A uniform dimensional result for normally reflected Brownian motion (RBM) in a large class of non-smooth domains is established. Exact Hausdorff dimensions for the boundary occupation time and the boundary trace of RBM are given. Extensions…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…

We introduce a novel method for controlling a motion sequence using an arbitrary temporal control sequence using temporal alignment. Temporal alignment of motion has gained significant attention owing to its applications in motion control…

In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…

Bounded-rate multi-mode systems are hybrid systems that can switch among a finite set of modes. Its dynamics is specified by a finite number of real-valued variables with mode-dependent rates that can vary within given bounded sets. Given…