Erol Şahin — accepted AI-conference papers

2023

Distributed Model Predictive Formation Control of Robots with Sampled Trajectory Sharing in Cluttered Environments

Sami Satir, Yasin Furkan Aktaş, Simay Atasoy, Mert Ankarali, Erol Şahin

IROS 2023poster

In this paper, we propose a Model Predictive Control (MPC) based distributed formation control method for a multi-robot system (MRS) that would move them among dynamic obstacles to a desired goal position. Specifically, after formulating the formation control, as a distributed version of MPC, we pro…

Cited by 2 Source ↗Scholar ↗

2023

Onboard Predictive Flocking of Quadcopter Swarm in the Presence of Obstacles and Faulty Robots

Giray Önür, Mehmet Şahin, Erhan Ege Keyvan, Ali Emre Turgut, Erol Şahin

IROS 2023poster

Achieving fluent flocking, similar to those observed in birds and fish, on robotic swarms in a desired direction while avoiding obstacles using onboard sensing and computation remains a challenge. In a previous study (Önür et al, Proc. of ANTS'2022), we proposed a predictive flocking model as a comp…

Cited by 1 Source ↗Scholar ↗