9 accepted papers
This letter investigates the scope of deep neural network (DNN) based controller in the path following task for unicycle mobile robots. A DNN-based controller is trained to follow paths with arbitrary curvature in two-dimensional space. The training process does not require initialization or supervi
This letter presents a coverage control algorithm for robots with different maximum speeds to effectively cover an area in terms of time of travel. In order to utilize the different speeds of the robots, the region of dominance of a robot is approximated by the set of points where the robot can arri
A formulation of the area defense and surveillance problem for one intruder and one defense and surveillance robot and its corresponding solution using control barrier functions is presented. The defense robot must follow the intruder as it moves through a rectangular region in the plane, ensuring t…
A solution to the perimeter surveillance problem for one intruder and multiple surveillance robots based on set-invariance is presented. The surveillance robots, constrained to move on the perimeter of a polygonal region, intercept the intruders as they cross the perimeter. The proposed closed-form
Robot networks are susceptible to fail under the presence of malicious or defective robots. Resilient networks in the literature require high connectivity and large communication ranges, leading to high energy consumption in the communication network. This paper presents robot formations with guaran…
This letter presents guarantees to satisfy resilience on the communication network of robot formations. In these resilient networks, cooperative robots can achieve consensus in the presence of faulty or malicious robots. We propose a design framework on triangular and square lattices, providing an u
One of the main challenges in robot swarming arises from the need to design controllers that guarantee safety and motion planners that guarantee collision avoidance. This translates into sensors that measure proximity to neighbors and algorithms that scale exponentially with the number of robots. In
All cooperative control algorithms for robot teams assume the ability to communicate without considering the possibility of a malicious or malfunctioning robot that may either communicate false information or take wrong actions. This paper addresses the development of formations that enable resilien
The agility and ease of control make a quadrotor aircraft an attractive platform for studying swarm behavior, modeling, and control. The energetics of sustained flight for small aircraft, however, limit typical applications to only a few minutes. Adding payloads - and the mechanisms used to manipula