Multi-robot formation control and object transport in dynamic environments via constrained optimization
J Alonso-Mora, S Baker, D Rus - The International Journal …, 2017 - journals.sagepub.com
We present a constrained optimization method for multi-robot formation control in dynamic
environments, where the robots adjust the parameters of the formation, such as size and …
environments, where the robots adjust the parameters of the formation, such as size and …
Resilient flocking for mobile robot teams
We present a method that enables resilient formation control for mobile robot teams in the
presence of noncooperative (defective or malicious) robots. Recent results in network …
presence of noncooperative (defective or malicious) robots. Recent results in network …
Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and sequential convex programming
D Morgan, GP Subramanian… - … Journal of Robotics …, 2016 - journals.sagepub.com
This paper presents a distributed, guidance and control algorithm for reconfiguring swarms
composed of hundreds to thousands of agents with limited communication and computation …
composed of hundreds to thousands of agents with limited communication and computation …
Collective dynamics in entangled worm and robot blobs
Y Ozkan-Aydin, DI Goldman… - Proceedings of the …, 2021 - National Acad Sciences
Living systems at all scales aggregate in large numbers for a variety of functions including
mating, predation, and survival. The majority of such systems consist of unconnected …
mating, predation, and survival. The majority of such systems consist of unconnected …
Mean-shift exploration in shape assembly of robot swarms
The fascinating collective behaviors of biological systems have inspired extensive studies
on shape assembly of robot swarms. Here, we propose a strategy for shape assembly of …
on shape assembly of robot swarms. Here, we propose a strategy for shape assembly of …
Multi-agent deployment in 3-D via PDE control
This paper introduces a methodology for modelling, analysis, and control design of a large-
scale system of agents deployed in 3-D space. The agents' communication graph is a mesh …
scale system of agents deployed in 3-D space. The agents' communication graph is a mesh …
Leader-enabled deployment onto planar curves: A PDE-based approach
We introduce an approach for stable deployment of agents onto families of planar curves,
namely, 1-D formations in 2-D space. The agents' collective dynamics are modeled by the …
namely, 1-D formations in 2-D space. The agents' collective dynamics are modeled by the …
Cooperative control of multiple uninhabited aerial vehicles for monitoring and fighting wildfires
IN RECENT years, in spite of large expenditures and substantial infrastructure dedicated to
wildland fire fighting, the damage done in terms of acres burnt has risen dramatically and …
wildland fire fighting, the damage done in terms of acres burnt has risen dramatically and …
A unifying method-based classification of robot swarm spatial self-organisation behaviours
Self-organisation in robot swarms can produce collective behaviours, particularly through
spatial self-organisation. For example, it can be used to ensure that the robots in a swarm …
spatial self-organisation. For example, it can be used to ensure that the robots in a swarm …
Decentralized multi-robot encirclement of a 3D target with guaranteed collision avoidance
We present a control framework for achieving encirclement of a target moving in 3D using a
multi-robot system. Three variations of a basic control strategy are proposed for different …
multi-robot system. Three variations of a basic control strategy are proposed for different …