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Hybrid Flock - Formation Control Algorithms

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Efficient methods for near-optimal sequential decision making under uncertainty

Christos Dimitrakakis

This chapter discusses decision making under uncertainty. More specifically, it offers an overview of efficient Bayesian and distribution-free algorithms for making near-optimal sequential decisions under uncertainty about the environment. Due to the uncer ...

2010

Learning and Control of UAV maneuvers Based on Demonstrations

Aude Billard, Seyed Mohammad Khansari Zadeh

Many maneuvers of Unmanned Aerial Vehicles (UAV) can be considered within a framework of trajectory following. Though this issue can differ from one application to another, they all share the same problem of finding an optimal path (or signal) to perform t ...

2009

Localizing an Odor Source and Avoiding Obstacles: Experiments in a Wind Tunnel using Real Robots

Alcherio Martinoli, Thomas Lochmatter, Nicolas Heiniger

We report on real-robot odor source localization experiments carried out in an environment with obstacles in the odor plume. The robot was equipped with an ethanol sensor and a wind direction sensor, and the experiments were carried out in a wind tunnel, i ...

2009

Distributed Scalable Multi-Robot Learning using Particle Swarm Optimization

Alcherio Martinoli, James Pugh

Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using online learning techniques which allow robots to generate their own controllers online in an automated fash- ion. In multi- ...

2009

Towards Group Transport by Swarms of Robots

Roderich Gross

We examine the ability of a swarm robotic system to transport cooperatively objects of different shapes and sizes. We simulate a group of autonomous mobile robots that can physically connect to each other and to the transported object. Controllers — artifi ...

2009

Nonlinear Average Consensus

Martin Hasler, Leonidas Georgopoulos

We present an algorithm for nonlinear consensus in complex networks. Our motivation draws from analysis on the algorithm based on a weighted linear update protocol. Comparison of the asymptotic with early convergence rate encourages an alternative algorith ...

IEICE2009

Tracking Odor Plumes in a Laminar Wind Field with Bio-Inspired Algorithms

Alcherio Martinoli, Thomas Lochmatter

We introduce a novel bio-inspired odor source localization algorithm (surge- cast) for environments with a main wind ﬂow and compare it to two well-known algorithms. With all three algorithms, systematic experiments with real robots are carried out in a wi ...

Springer2009

Testing a reliable in-vehicle navigation algorithm in the field

The results of a field experiment carried out to assess the accuracy and efficiency of a new in-vehicle navigation algorithm, whose aim is to incorporate and consider travel time reliability and route the guided vehicle along uncongested roads, in the abse ...

Institution of Engineering and Technology2009

Diffusion least-mean squares with adaptive combiners

Ali H. Sayed

This paper presents an efficient adaptive combination strategy for diffusion algorithms over adaptive networks in order to improve the robustness against the spatial variation of SNR over the network. The diffusion least-mean square (LMS) algorithm with th ...

IEEE2009

A Leader-free Byzantine Consensus Algorithm

André Schiper, Fatemeh Borran

The paper considers the consensus problem in a partially synchronous system with Byzantine faults. All deterministic algorithms that solve consensus in this context are leader-based. However, in the context of Byzantine faults, leader-based algorithms are ...

2009