Titlebook: Distributed Autonomous Robotic Systems; 16th International S Julien Bourgeois,Jamie Paik,Abdallah Makhoul Conference proceedings 2024 The E

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,A Distributed Architecture for?Onboard Tightly-Coupled Estimation and?Predictive Control of?Micro Acture involves multi-rate extended Kalman filtering and nonlinear model predictive control in order to optimize the system performance while satisfying various physical constraints of the vehicles, such as actuation limits, safety thresholds, and perceptual restrictions. The architecture leverages e

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Search Space Illumination of Robot Swarm Parameters for Trustworthy Interaction,e this, we produce a feature space of swarm characteristic sets using Map-Elites. These sets provide users with the ability to explore specific combinations of characteristics known to achieve good results for the specified requirements. This allows operators to pass preferential parameter sets to s

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,Collective Gradient Following with?Sensory Heterogeneous UAV Swarm,n relative distance and bearing measurements of neighbors. Additionally, only a minority of agents in the swarm perceive the scalar value of the gradient at their location. We test the method with incrementally changing ratio of agents with sensors on various swarm sizes. In addition to repeated sim

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,DAN: Decentralized Attention-Based Neural Network for?the?MinMax Multiple Traveling Salesman Problees MinMax mTSP, where the objective is to minimize the max tour length among all agents. Many robotic deployments require recomputing potentially large mTSP instances frequently, making the natural trade-off between computing time and solution quality of great importance. However, exact and heuristi

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