A5025139075- Distributed Control Multi-Agent Systems
- Modular Robots and Swarm Intelligence
- UAV Applications and Optimization
- Robotic Path Planning Algorithms
- Adaptive Control of Nonlinear Systems
- Robotic Locomotion and Control
- Simulation Techniques and Applications
- Micro and Nano Robotics
Université Libre de Bruxelles
2020-2024
Hierarchical frameworks-a special class of directed frameworks with a layer-by-layer architecture-can be an effective mechanism to coordinate robot swarms. Their effectiveness was recently demonstrated by the mergeable nervous systems paradigm (Mathews et al., 2017), in which swarm can switch dynamically between distributed and centralized control depending on task, using self-organized hierarchical frameworks. New theoretical foundations are required use this for formation large In...
We propose a decentralized hybrid swarm control mechanism for quadrotor helicopters. The includes formation, rotation, tracking, and inter-agent collision avoidance capabilities. provide stability analysis of the proposed rule assuming that each has single-integrator dynamics on formation tracking level. Then we integrate level inputs to obtain desired position quadrotors design low individual controllers track these positions. Since output controller is location member, are required have in...
In this work, we present an open-source UAV platform for research in swarm robotics. robotics, groups of robots collaborate using local interactions and collectively solve tasks beyond individual robot's capabilities. Individual must have onboard processing, communication, sensing capabilities to autonomously react their neighbors immediate environment. Most involving UAVs robotics presents only simulation results, while key landmark studies with real swarms use platforms that were...
We present the self-organizing nervous system (SoNS), a robot swarm architecture based on self-organized hierarchy. The SoNS approach enables robots to autonomously establish, maintain, and reconfigure dynamic multilevel architectures. For example, consisting of