Andreas Brandstätter — accepted AI-conference papers

2024

Flock-Formation Control of Multi-Agent Systems using Imperfect Relative Distance Measurements

Andreas Brandstätter, Scott A. Smolka, Scott D. Stoller, Ashish Tiwari, Radu Grosu

ICRA 2024poster

We present distributed distance-based control (DDC), a novel approach for controlling a multi-agent system, such that it achieves a desired formation, in a resource-constrained setting. Our controller is fully distributed and only requires local state-estimation and scalar measurements of inter-agen…

Cited by 0 Source ↗Scholar ↗

2023

Multi-Agent Spatial Predictive Control with Application to Drone Flocking

Andreas Brandstätter, Scott A. Smolka, Scott D. Stoller, Ashish Tiwari, Radu Grosu

ICRA 2023poster

We introduce Spatial Predictive Control (SPC), a technique for solving the following problem: given a collection of robotic agents with black-box positional low-level controllers (PLLCs) and a mission-specific distributed cost function, how can a distributed controller achieve and maintain cost-func…

Cited by 4 Source ↗Scholar ↗