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cs.RO2026
Distributed Harmonic-Covariance Feedback for Hole Closure in Planar Robot Swarms
Jitian Liu, Subhrajit Bhattacharya
We consider hole closure in a planar multi-agent system whose sensing disks form a time-varying Čech complex. We propose a harmonic-covariance feedback that uses harmonic edge sign…
cs.RO2026
From Ellipsoids to Midair Control of Dynamic Hitches
Jiawei Xu, Subhrajit Bhattacharya, David Saldaña
The ability to manipulate and interlace cables using aerial vehicles can greatly improve aerial transportation tasks. Such interlacing cables create hitches by winding two or more…
cs.RO2023
Weighted Combinatorial Laplacian and its Application to Coverage Repair in Sensor Networks
Shunsaku Yadokoro, Subhrajit Bhattacharya
We define the weighted combinatorial Laplacian operators on a simplicial complex and investigate their spectral properties. Eigenvalues close to zero and the corresponding eigenvec…