Multi-Robot Systems
Goal:
Control, Collaboration
Description:
Our goal is to develop new methodologies to control the behaviour of networked robotic systems
Topics:
Collective dexterity
Task partitioning
Formation and consensus
Theoretical foundations
Team
Zeyu Zhou
Luiza Labazanova
Yuan Tian
Dr Xiaodong Shao
Hui Zhi
Dr Jose G. Romero
Bowen Fan
Valen Qiu
Bin Zhang
Dr Samantha Lee
Publications
Y. Tian, B. Zhang, X. Shao, and D. Navarro-Alarcon. Encircling General 2-D Boundaries by Mobile Robots with Collision Avoidance: A Vector Field Guided Approach. (preprint) [pdf]
X. Shao, B. Zhang, H. Zhi, J. G. Romero, B. Fan, Q. Hu, and D. Navarro-Alarcon. InPTC: Integrated Planning and Tube-Following Control for Prescribed-Time Collision-Free Navigation of Wheeled Mobile Robots. IEEE/ASME Transactions on Mechatronics (T-MECH) (in press), 2024 [pdf]
H. Zhi, B. Zhang, J. Qi, J. G. Romero, X. Shao, C. Yang, and D. Navarro-Alarcon. Non-Prehensile Object Transport by Nonholonomic Robots Connected by Linear Deformable Elements. IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 10, pp. 8651-8658, 2024 [pdf]
H.-Y. Lee, P. Zhou, B. Zhang, L. Qiu, A. Duan, J. Tang, T. L. Lam, and D. Navarro-Alarcon. A Distributed Dynamic Framework to Allocate Collaborative Tasks Based on Capability Matching in Heterogeneous Multi-Robot Systems. IEEE Transactions on Cognitive and Developmental Systems (T-CDS), vol. 16, no. 1, pp. 251-265, 2024. [pdf]
B. Zhang, X. Shao, H. Zhi, L. Qiu, J. G. Romero, and D. Navarro-Alarcon. Leader-Follower Formation Control of Perturbed Nonholonomic Agents along Parametric Curves with Directed Communication, IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 10, pp. 8603-8610, 2024 [pdf]
B. Zhang, H. Zhi, J. G. Romero, L. Labazanova, A. Duan, X. Li, and D. Navarro-Alarcon. Fourier-Based Multi-Agent Formation Control to Track Evolving Closed Boundaries. IEEE Transactions on Circuits and Systems I: Regulate Papers (T-CAS-I), vol. 70, no. 11, pp. 4549-4559, 2023. [pdf]
L. Labazanova, S. Peng, L. Qiu, H.-Y. Lee, T. Nanayakkara, and D. Navarro-Alarcon. Self-Reconfigurable Soft-Rigid Mobile Agent with Variable Stiffness and Adaptive Morphology. IEEE Robotics and Automation Letters (RA-L), vol. 8, no. 3, pp. 1643-1650, 2023 [pdf]
A. Duan, B. Zhang, L. Hu, L. Feng, and , D. Navarro-Alarcon. Balancing Control of Wheeled-Legged Hexapedal Robots for Traversing Rough Terrains, IEEE Int. Conf. Robotics and Biomimetics (ROBIO), 2022 [pdf]
J. G. Romero, D. Navarro-Alarcon, E. Nuno, and H. Que. A Globally Convergent Adaptive Velocity Observer for Nonholonomic Mobile Robots Affected by Unknown Disturbances, IEEE Control Systems Letters (L-CSS), vol. 7, pp. 85-90, 2022. [pdf]