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Applying Aspects of Multi-Robot Search to Particle Swarm Optimization

Publications associées (30)

Frequency response of fiber reinforced DEAs

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Dielectric Elastomer Actuators (DEAs) have emerged as versatile and promising devices for a multitude of applications, including soft robotics, haptic interfaces, and artificial muscles. DEAs are an interesting soft actuator technology due to their high en ...

Society of Photo-Optical Instrumentation Engineers (SPIE)2024

Differentially private multi-agent constraint optimization

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Distributed constraint optimization (DCOP) is a framework in which multiple agents with private constraints (or preferences) cooperate to achieve a common goal optimally. DCOPs are applicable in several multi-agent coordination/allocation problems, such as ...

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Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

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Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

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Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

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Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

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Morphological flexibility in robotic systems through physical polygon meshing

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Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

Nature Portfolio2023

Multi-robot task allocation for safe planning against stochastic hazard dynamics

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We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot optimal control pol ...

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Avian-Inspired Claws Enable Robot Perching or Walking

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Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

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Multi-Robot 3D Gas Distribution Mapping: Coordination, Information Sharing and Environmental Knowledge

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Environmental monitoring and mapping operations are an essential tool to combat climate change. An important branch of this domain concerns the construction of reliable gas maps. Adaptive navigation strategies coupled with multi-robot systems improve the o ...

2023

Learning and optimization of anticipatory feedback controllers for robot manipulation

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Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

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Certification of Bottleneck Task Assignment With Shortest Path Criteria

Maryam Kamgarpour, Tony Alan Wood

Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in an environment wi ...

2023