5 papers
Relative Pose Estimation for Nonholonomic Robot Formation with UWB-IO Measurements (Extended version)
Kunrui Ze, Wei Wang, Shuoyu Yue +3
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Altho…
Integrated cooperative localization of heterogeneous measurement swarm: A unified data-driven method
Kunrui Ze, Wei Wang, Guibin Sun +3
The cooperative localization (CL) problem in heterogeneous robotic systems with different measurement capabilities is investigated in this work. In practice, heterogeneous sensors…
Mean-Shift Theory and Its Applications in Swarm Robotics: A New Way to Enhance the Efficiency of Multi-Robot Collaboration
Guibin Sun, Jinhu Lü, Kexin Liu +2
Swarms evolving from collective behaviors among multiple individuals are commonly seen in nature, which enables biological systems to exhibit more efficient and robust collaboratio…
Bidirectional Task-Motion Planning Based on Hierarchical Reinforcement Learning for Strategic Confrontation
Qizhen Wu, Lei Chen, Kexin Liu +1
In swarm robotics, confrontation scenarios, including strategic confrontations, require efficient decision-making that integrates discrete commands and continuous actions. Traditio…
Multi-Agent Reinforcement Learning-Based UAV Pathfinding for Obstacle Avoidance in Stochastic Environment
Qizhen Wu, Kexin Liu, Lei Chen +1
Traditional methods plan feasible paths for multiple agents in the stochastic environment. However, the methods' iterations with the changes in the environment result in computatio…