We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and representing spatially cohesive and segregated robot groups at different resolutions by relating the continuous space of configurations to the combinatorial space of trees. We formalize and exploit this relation, developing computationally effective reactive algorithms for navigating through the combinatorial space in concert with geometric realizations for a particular choice of hierarchical clustering method. These constructions yield computationally effective vector field planners for both hierarchically invariant as well as transitional navigation in the configuration space. We apply these methods to the centralized coordination and control of $n$ perfectly sensed and actuated Euclidean spheres in a $d$-dimensional ambient space (for arbitrary $n$ and $d$). Given a desired configuration supporting a desired hierarchy, we construct a hybrid controller which is quadratic in $n$ and algebraic in $d$ and prove that its execution brings all but a measure zero set of initial configurations to the desired goal with the guarantee of no collisions along the way.
Subteaming and Adaptive Formation Control for Coordinated Multi-Robot Navigation
University of Massachusetts Amherst（马萨诸塞大学阿默斯特分校）；North Carolina State University（北卡罗来纳州立大学）；U.S. Army DEVCOM Army Research Laboratory（美国陆军 DEVCOM 军事研究实验室）；University of Denver（丹佛大学）
Coordinated Multi-Robot Navigation with Formation Adaptation
University of Massachusetts Amherst（马萨诸塞大学阿默斯特分校）；North Carolina State University（北卡罗来纳州立大学）；University of Denver（丹佛大学）；U.S. Army DEVCOM Army Research Laboratory (ARL)（美国陆军DEVCOM陆军研究实验室）
Zhejiang University（浙江大学）；Huzhou Institute of Zhejiang University（浙江大学湖州研究院）；Huzhou Normal University（湖州师范学院）；Huzhou Vocational and Technical College（湖州职业技术学院）
Deadlock-Free Hybrid RL-MAPF Framework for Zero-Shot Multi-Robot Navigation
Department of Mechanical Engineering University of California Riverside CA USA（加州大学河滨分校机械工程系）；Department of Electrical and Systems Engineering Washington University in St. Louis MO USA（华盛顿大学圣路易斯分校电气与系统工程系）
SEDualVLN: A Spatially-Enhanced Dual-System Framework for Vision-Language Navigation
Hong Kong Polytechnic University（香港理工大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））
Nav-SCOPE: Swarm Robot Cooperative Perception and Coordinated Navigation
Department of Automation, Tsinghua University（自动化系，清华大学）；Beijing National Research Center for Information Science and Technology, Tsinghua University（北京信息科学与技术国家研究中心，清华大学）；School of Mechanical and Electrical Engineering, Beijing Information Science and Technology University（机械与电子工程学院，北京信息科学与技术大学）
HyperDCM: Dynamic Cluster Memory Replay in Hyperbolic Space for Continual Robotic Navigation Across Scenes
Software Engineering Institute, East China Normal University（华东师范大学软件工程学院）；School of Geospatial Information, Information Engineering University（信息工程大学地理空间信息学院）；University of Shanghai for Science and Technology（上海理工大学）；Shanghai Jiao Tong University（上海交通大学）
Coordinated Guiding Vector Field Design for Ordering-Flexible Multi-Robot Surface Navigation
Huazhong University of Science and Technology（华中科技大学）；Hunan University（湖南大学）；University of Groningen（格罗宁根大学）；Eindhoven University of Technology（埃因霍温理工大学）
Engineering and Technology Institute Groningen, Faculty of Science and Engineering, University of Groningen（格罗宁根大学工程与技术学院，科学与工程学院）；School of Robotics, Hunan University（湖南大学机器人学院）
Intrinsic-Motivation Multi-Robot Social Formation Navigation with Coordinated Exploration
School of Computer Science and Technology（计算机科学与技术学院）；Wuhan University of Science and Technology（武汉科技大学）；Hubei Province Key Laboratory of Intelligent Information Processing（湖北省智能信息处理重点实验室）
CLASH: Collaborative Large-Small Hierarchical Framework for Continuous Vision-and-Language Navigation
Tongji University（同济大学）；Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology（能源化工过程智能制造重点实验室，教育部，东华大学）
Constraint-Aware Zero-Shot Vision-Language Navigation in Continuous Environments
New Laboratory of Pattern Recognition (NLPR)（模式识别新实验室）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（穆罕默德·本·扎耶德人工智能大学）；Robotics X, Tencent（腾讯Robotics X实验室）
MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation
Allen Institute for AI（艾伦人工智能研究所）；University of Washington（华盛顿大学）；University of California, Los Angeles（加州大学洛杉矶分校）；University of California, Berkeley（加州大学伯克利分校）
Efficient Navigation Among Movable Obstacles using a Mobile Manipulator via Hierarchical Policy Learning
School of Computing in Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院计算机学院）；Robotics Program at the same institute, KAIST（韩国科学技术院机器人项目）
Decentralized and Fully Onboard: Range-Aided Cooperative Localization and Navigation on Micro Aerial Vehicles
Learning Systems and Robotics Lab（学习系统与机器人实验室）；Technical University of Munich（慕尼黑技术大学）；University of Toronto Institute for Aerospace Studies（多伦多大学航空航天研究所）；University of Toronto Robotics Institute（多伦多大学机器人研究所）；Munich Institute of Robotics and Machine Intelligence（慕尼黑机器人与机器智能研究所）；Vector Institute for Artificial Intelligence（人工智能向量研究所）
ConsistNav: Closing the Action Consistency Gap in Zero-Shot Object Navigation with Semantic Executive Control
Sun Yat-sen University（中山大学）；The University of Hong Kong（香港大学）；Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州））；City University of Hong Kong（香港城市大学）；Carnegie Mellon University（卡内基梅隆大学）
Optimizing Earth-Moon Transfer and Cislunar Navigation: Integrating Low-Energy Trajectories, AI Techniques and GNSS-R Technologies
Beihang University（北京航空航天大学）；Regional Centre for Space Science and Technology Education in Asia & the Pacific (Affiliated to the United Nations) (RCSSTEAP), Hangzhou International Innovation Institute of Beihang University（联合国附属空间科技教育亚太区域中心，北京航空航天大学杭州国际创新研究院）
