5 papers
Learning Efficient Flocking Control based on Gibbs Random Fields
Dengyu Zhang, Chenghao, Feng Xue +1
Flocking control is essential for multi-robot systems in diverse applications, yet achieving efficient flocking in congested environments poses challenges regarding computation bur…
Formation Control for Enclosing and Tracking via Relative Localization
Xueming Liu, Dengyu Zhang, Qingrui Zhang +1
This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target with…
HOLA-Drone: Hypergraphic Open-ended Learning for Zero-Shot Multi-Drone Cooperative Pursuit
Yang Li, Dengyu Zhang, Junfan Chen +4
Zero-shot coordination (ZSC) is a significant challenge in multi-agent collaboration, aiming to develop agents that can coordinate with unseen partners they have not encountered be…
GRF-based Predictive Flocking Control with Dynamic Pattern Formation
Chenghao Yu, Dengyu Zhang, Qingrui Zhang
It is promising but challenging to design flocking control for a robot swarm to autonomously follow changing patterns or shapes in a optimal distributed manner. The optimal flockin…
DACOOP-A: Decentralized Adaptive Cooperative Pursuit via Attention
Zheng Zhang, Dengyu Zhang, Qingrui Zhang +2
Integrating rule-based policies into reinforcement learning promises to improve data efficiency and generalization in cooperative pursuit problems. However, most implementations do…