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On the Scalability of Vision-based Drone Swarms in the Presence of Occlusions

Related publications (36)

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Flocking-enhanced social contagion

Ignacio Pagonabarraga Mora

Populations of mobile agents-animal groups, robot swarms, or crowds of people-self-organize into a large diversity of states as a result of information exchanges with their surroundings. While in many situations of interest the motion of the agents is driv ...

AMER PHYSICAL SOC2020

The influence of limited visual sensing on the Reynolds ﬂocking algorithm

Dario Floreano, Fabrizio Schiano, Enrica Soria

The interest in multi-drone systems flourished in the last decade and their application is promising in many fields. We believe that in order to make drone swarms flying smoothly and reliably in real-world scenarios we need a first intermediate step which ...

2019

Tomography Of Adaptive Multi-Agent Networks Under Limited Observation

Ali H. Sayed

This work studies the problem of inferring from streaming data whether an agent is directly influenced by another agent over an adaptive network of interacting agents. Agent i influences agent j if they are connected, and if agent j uses the information fr ...

IEEE2018

Dynamic Safe Interruptibility for Decentralized Multi-Agent Reinforcement Learning

Rachid Guerraoui, El Mahdi El Mhamdi, Alexandre David Olivier Maurer, Hadrien Hendrikx

In reinforcement learning, agents learn by performing actions and observing their outcomes. Sometimes, it is desirable for a human operator to \textit{interrupt} an agent in order to prevent dangerous situations from happening. Yet, as part of their learni ...

EPFL2017

Decentralized exact coupled optimization

Ali H. Sayed, Kun Yuan, Sulaiman A S A E Alghunaim

This work develops an exact converging algorithm for the solution of a distributed optimization problem with partially-coupled parameters across agents in a multi-agent scenario. In this formulation, while the network performance is dependent on a collecti ...

2017

Control of agent swarms in random environments

Guillaume Adrien Sartoretti

The collective dynamic behavior of large groups of interacting autonomous agents (swarms) have inspired much research in both fundamental and engineering sciences. It is now widely acknowledged that the intrinsic nonlinearities due to mutual interactions c ...

EPFL2016

Intearcting Brownian Swarms: Some Analytical Results

Max-Olivier Hongler, Guillaume Adrien Sartoretti

We consider the dynamics of swarms of scalar Brownian agents subject to local imitation mechanisms implemented using mutual rank-based interactions. For appropriate values of the underlying control parameters, the swarm propagates tightly and the distances ...

MDPI AG2016

Fixed-wing drones for communication networks

Maja Varga

In the last decade, drones became frequently used to provide eye-in-the-sky overview in the outdoor environment. Their main advantage compared to the other types of robots is that they can fly above obstacles and rough terrains and they can quickly cover l ...

EPFL2016

Leader-Based versus Soft Control of Multi-Agent Swarms

Guillaume Adrien Sartoretti

We focus on the control of heterogeneous swarms of agents that evolve in a random environment. Control is achieved by introducing special agents: leader and infiltrated (shill) agents. A refined distinction is made between hidden and apparent controlling a ...

Springer2015

Distributed Multi-Robot Learning using Particle Swarm Optimization

Ezequiel Leonardo Di Mario

This thesis studies the automatic design and optimization of high-performing robust controllers for mobile robots using exclusively on-board resources. Due to the often large parameter space and noisy performance metrics, this constitutes an expensive opti ...

EPFL2015