5 papers
Distributed 3D Source Seeking via SO(3) Geometric Control of Robot Swarms
Jesús Bautista, Héctor García de Marina
This paper presents a geometric control framework on the Lie group SO(3) for 3D source-seeking by robots with first-order attitude dynamics and constant translational speed. By wor…
Distributed Oscillatory Guidance for Formation Flight of Fixed-Wing Drones
Yang Xu, Jesús Bautista, José Hinojosa +1
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostl…
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…
Inverse Kinematics on Guiding Vector Fields for Robot Path Following
Yu Zhou, Jesús Bautista, Weijia Yao +1
Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse ki…
Source-Seeking Problem with Robot Swarms
Antonio Acuaviva, Hector Garcia de Marina, Juan Jimenez
We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction o…