Chenghao Yu

2 accepted papers

2025

Learning Efficient Flocking Control Based on Gibbs Random Fields

Dengyu Zhang, Chenghao Yu, Feng Xue, Qingrui Zhang

RA-L 2025

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 letter addresses these challenges through a multi-agent reinforcem

Cited by 1 Source ↗Scholar ↗

2024

GRF-based Predictive Flocking Control with Dynamic Pattern Formation

Chenghao Yu, Dengyu Zhang, Qingrui Zhang

ICRA 2024poster

It is promising but challenging to design flocking control for a robot swarm to autonomously follow changing patterns or shapes in a optimal distributed manner. The optimal flocking control with dynamic pattern formation is, therefore, investigated in this paper. A predictive flocking control algori…

Cited by 2 Source ↗Scholar ↗