A5029275119- Distributed Control Multi-Agent Systems
- Robotic Path Planning Algorithms
- Optimization and Search Problems
- Stability and Control of Uncertain Systems
- Energy Efficient Wireless Sensor Networks
- Modular Robots and Swarm Intelligence
- Guidance and Control Systems
- Distributed systems and fault tolerance
- Robotics and Sensor-Based Localization
- Micro and Nano Robotics
- Robotic Mechanisms and Dynamics
- Mathematical and Theoretical Epidemiology and Ecology Models
- Adaptive Control of Nonlinear Systems
- Robotics and Automated Systems
- Soft Robotics and Applications
- Advanced Graph Theory Research
- Smart Grid Security and Resilience
- Piezoelectric Actuators and Control
- Vehicle Routing Optimization Methods
University of Pennsylvania
2012-2019
Qualcomm (United States)
2019
California University of Pennsylvania
2013
In this paper, we consider the problem of concurrent assignment and planning trajectories (which denote Capt ) for a team robots. This involves simultaneously addressing two challenges: (1) combinatorially complex finding suitable robots to goal locations, (2) generation collision-free, time parameterized every robot. We unlabeled (interchangeable) propose algorithmic solutions variations problem. The first algorithm, c-Capt, is provably correct, complete, centralized algorithm which...
We address formation control for a team of quadrotors in which the robots follow specified group trajectory while safely changing shape according to specifications. The is prescribed by vectors dictate relative separations and bearings between robots, as desired leader or virtual robot group. Each plans its independently based on local information neighboring includes both neighbor's planned an estimate state. show that decentralized planners (a) result consensus predefined shapes (b)...
This paper considers the problem of finding optimal time parameterized trajectories for N unlabeled robots navigating through a cluttered environment to goal locations where success is defined as every being reached by any robot. We propose complete computationally-tractable algorithm simultaneously and assignment locations. method then demonstrated have an upper complexity bound that scales polynomially in number robots, O(N <sup xmlns:mml="http://www.w3.org/1998/Math/MathML"...
This paper presents a computationally tractable, resolution-complete algorithm for generating dynamically feasible trajectories N interchangeable (identical) aerial robots navigating through cluttered known environments to M goal states.This is achieved by assigning the states while concurrently planning all robots.The minimizes maximum cost over robot trajectories.The computational complexity of this shown be cubic in number robots, substantially better than expected exponential associated...
This paper considers the problem of decentralized goal assignment and trajectory generation for multi-robot networks when only local communication is available, proposes an approach based on methods related to switched systems set invariance. A family Lyapunov-like functions employed encode (local) decision making among candidate assignments, under which agents pick results in shortest total distance goals. An additional barrier activated case optimal may lead colliding trajectories, thus...
This paper presents a decentralized controller to guide group of aerial robots converge and move along simple closed curve specified in three-dimensional environment. may be considered as perimeter surveilled by the robots. The solution presented this is based on an artificial vector field modulated collision avoidance scheme relies only local sensing. Proofs asymptotic stability proposed are devised for team kinematically controlled rotorcrafts. Experimental results with autonomous...
This article considers the problem of decentralized goal assignment and trajectory generation for multirobot networks when only local communication is available proposes an approach based on methods related to switched systems set invariance. A family Lyapunov-like functions employed encode (local) decision making among candidate assignments, under which a group connected agents chooses that results in shortest total distance goals. An additional barrier activated case optimal may lead...
This paper considers the problem of decentralized goal assignment and trajectory generation for multi-robot networks when only local communication is available, proposes an approach based on methods related to switched systems set invariance. A family Lyapunov-like functions employed encode (local) decision making among candidate assignments, under which a group connected agents chooses that results in shortest total distance goals. An additional barrier activated case optimal may lead...