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Versatile Distributed Maneuvering with Generalized Formations using Guiding Vector Fields
Yang Lu, Sha Luo, Pengming Zhu +4
This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independe…
HI-GVF: Shared Control based on Human-Influenced Guiding Vector Fields for Human-multi-robot Cooperation
Pengming Zhu, Zongtan Zhou, Weijia Yao +3
Human-multi-robot shared control leverages human decision-making and robotic autonomy to enhance human-robot collaboration. While widely studied, existing systems often adopt a lea…
Consensus-Based Dynamic Task Allocation for Multi-Robot System Considering Payloads Consumption
Xuekai Qiu, Pengming Zhu, Yiming Hu +2
This paper presents a consensus-based payload algorithm (CBPA) to deal with the condition of robots' capability decrease for multi-robot task allocation. During the execution of co…
SPF-EMPC Planner: A real-time multi-robot trajectory planner for complex environments with uncertainties
Peng Liu, Pengming Zhu, Zhiwen Zeng +3
In practical applications, the unpredictable movement of obstacles and the imprecise state observation of robots introduce significant uncertainties for the swarm of robots, especi…
DVRP-MHSI: Dynamic Visualization Research Platform for Multimodal Human-Swarm Interaction
Pengming Zhu, Zhiwen Zeng, Weijia Yao +3
In recent years, there has been a significant amount of research on algorithms and control methods for distributed collaborative robots. However, the emergence of collective behavi…
Robot Navigation in a Crowd by Integrating Deep Reinforcement Learning and Online Planning
Zhiqian Zhou, Pengming Zhu, Zhiwen Zeng +3
It is still an open and challenging problem for mobile robots navigating along time-efficient and collision-free paths in a crowd. The main challenge comes from the complex and sop…