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cs.RO2023
Congestion and Scalability in Robot Swarms: a Study on Collective Decision Making
Karthik Soma, Vivek Shankar Vardharajan, Heiko Hamann +1
One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations,…
cs.RO2023
Energy Sufficiency in Unknown Environments via Control Barrier Functions
Hassan Fouad, Vivek Shankar Varadharajan, Giovanni Beltrame
Maintaining energy sufficiency of a battery-powered robot system is a essential for long-term missions. This capability should be flexible enough to deal with different types of en…