4 accepted papers
In this paper we discuss how to use a barrier function that is subject to kinematic constraints and limited sensing in order to guarantee that fixed wing unmanned aerial vehicles (UAVs) will maintain safe distances from each other at all times despite being subject to sensing constraints. Prior work…
In densely-packed robot swarms operating in confined regions, spatial interference-which manifests itself as a competition for physical space-forces robots to spend more time navigating around each other rather than performing the primary task. This paper develops a decentralized algorithm that enab…
In multi-robot systems, although the idea of behaviors allows for an efficient solution to low-level tasks, high-level missions can rarely be achieved by the execution of a single behavior. In contrast to this, a sequence of behaviors would provide the requisite expressiveness, but there are no a pr…
As the spatial scale of robots decrease in multi-robot systems, collisions cease to be catastrophic events that need to be avoided at all costs. This implies that less conservative, coordinated control strategies can be employed, where collisions are not only tolerated, but can potentially be harnes…