Luigi
10 records found
1
Authored
Time-Inverted Kuramoto Model Meets Lissajous Curves
Multi-Robot Persistent Monitoring and Target Detection
This letter proposes a distributed strategy to achieve both persistent monitoring and target detection in a rectangular and obstacle-free environment. Each robot has to repeatedly follow a smooth trajectory and avoid collisions with other robots. To achieve this goal, we rely ...
Multi-agent navigation in human-shared environments
A safe and socially-aware approach
The paper addresses the problem of multi-robot navigation in human shared spaces. We propose a hierarchical framework that combines global path planning, local path planning and reactive strategies, ensuring a safe and socially-aware navigation. We show through several tests a ...
Different authors have addressed a number of problems in the area of distributed control proposing convincing solutions to specific problems such as static coverage, dynamic coverage/exploration, rendezvous, flocking, formation control. However, a major limitation of problem-s ...
Given a team composed of groups of robots with different abilities and different tasks, we propose a control solution that allows maintaining the connectivity between the agents whilst securing the execution of the different tasks assigned to the team. The specific notion of c ...
In this paper we analyse the equilibrium configurations for the time-inverted Kuramoto Model with homogeneous agents and a fixed ring topology, where time-inverted means that the coupling between the different states is via a negative factor. This model exhibits a dual behavio ...
In this paper we analyse the equilibrium configurations for the time-inverted Kuramoto Model with homogeneous agents and a fixed ring topology, where time-inverted means that the coupling between the different states is via a negative factor. This model exhibits a dual behavio ...
The letter proposes a combination of ideas to support navigation for a mobile robot across dynamic environments, cluttered with obstacles and populated by human beings. The combination of the classical potential field methods and limit cycle based approach with an innovative s ...
We present an algorithm for collision free and socially-aware navigation of multiple robots in an environment shared with human beings, other robots and with the presence of static obstacles. We formulate the problem as a constrained optimization problem, where the cost functi ...
We present a Lloyd-based navigation solution for robots that are required to move in a dynamic environment, where static obstacles (e.g, furnitures, parked cars) and unpredicted moving obstacles (e.g., humans, other robots) have to be detected and avoided on the fly. The algor ...