Decentralized, Self-organizing, Potential field-based Control for Individuallymotivated, Mobile Agents in a Cluttered Environment: A Vector-Harmonic Potential Field Approach
King Fahd University of Petroleum and Minerals（法赫德国王石油与矿业大学）
Ahmad A. Masoud
发表信息：
IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, May 2007, Volume:37, Issue: 3, pp. 372-390
Spatial multi-agency has been receiving growing attention from researchers exploring many of the aspects and modalities of this phenomenon. The aim is to develop the theoretical background needed for a multitude of applications involving the sharing of resources by more than one agent. A traffic management system is one of these applications. Here, a large group of mobile robots that are operating in communication-limited, and sensory-limited modes are required to cope with each others presence as well as the contents of their environment while preserving their ability to reach their preset, independent goals. This work explores the construction of a decentralized traffic controller for a large group of agents sharing a workspace with stationary forbidden regions. The suggested multi-agent motion controller is complete provided that a lenient condition on the geometry of the workspace is upheld. It has a low computational effort that linearly increases with the number of agents. The controller is also self-organizing; therefore, it is able to deal, on its own, with incomplete information and unexpected situations. In addition to the above, the controller has an open structure to enable any agent to join or leave the group without the remaining agents having to adjust the manner in which they function. To meet these requirements, a definition of decentralization is suggested. This definition equates decentralization to self-organization in a group of agents operating in an artificial life mode. The definition is used to provide guidelines for the construction of the multi-agent controller. The controller is realized using the potential field approach. Theoretical developments, as well as simulation results, are provided.
EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments
Zhejiang University（浙江大学）；National Engineering Research Center for Industrial Automation (Ningbo Institute)（国家工业自动化工程技术研究中心（宁波研究院））；Huzhou Institute, Zhejiang University（浙江大学湖州研究院）
Decentralized End-to-End Multi-AAV Pursuit Using Predictive Spatio-Temporal Observation via Deep Reinforcement Learning
School of Intelligence Science and Engineering（智能科学与工程学院）；Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics（广东省智能变形机制与自适应机器人重点实验室）；Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments（深圳先进运动控制与现代自动化设备重点实验室）；Harbin Institute of Technology（哈尔滨工业大学）
Visibility-Aware Cooperative Tracking with Decentralized LiDAR-Based Aerial Swarms
Department of Mechanical Engineering, The University of Hong Kong（香港大学机械工程系）；School of Intelligent System Engineering, Sun Yat-sen University（中山大学智能系统工程学院）
Merry-Go-Round: Safe Control of Decentralized Multi-Robot Systems with Deadlock Prevention
Dept. of Artificial Intelligence, Sogang University（人工智能系，ソガン大学）；Dept. of Electronic Engineering, Sogang University（电子工程系，ソガン大学）；Dept. of Computer Science, University of Illinois Chicago（计算机科学系，伊利诺伊大学香槟分校）
OA-ECBVC: A Cooperative Collision-free Encirclement and Capture Approach in Cluttered Environments
The Chinese University of Hong Kong（香港中文大学）；The University of Hong Kong（香港大学）；Hebei University of Science and Technology（河北科技大学）；Tongji University（同济大学）
Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots
Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；CNRS（法国国家科学研究中心）；Irisa（法国国家信息与自动化研究所雷恩布列塔尼大西洋研究中心）；Inria Rennes Bretagne Atlantique（法国国家信息与自动化研究所雷恩布列塔尼大西洋研究中心）；Max Planck Institute for Biological Cybernetics（马克斯·普朗克生物控制论研究所）；LAAS（LAAS分析及系统架构实验室）；Univ de Toulouse（图卢兹大学）
Communication-Efficient Module-Wise Federated Learning for Grasp Pose Detection in Cluttered Environments
Department of Electronic Engineering, Hanyang University（电子工程系，翰阳大学）；Department of Computing, Gachon University（计算系，加恩大学）；Department of Artificial Intelligence, Hanyang University（人工智能系，翰阳大学）
Decentralized Heterogeneous Multi-Robot Collaborative Exploration for Indoor and Outdoor 3D Environments
College of Artificial Intelligence, Harbin Institute of Technology (Shenzhen)（哈尔滨工业大学（深圳）人工智能学院）；Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong（香港中文大学机械与自动化工程系）
Self-Organizing Aerial Swarm Robotics for Resilient Load Transportation : A Table-Mechanics-Inspired Approach
School of Automation Science and Electrical Engineering, Beihang University（北京航空航天大学自动化科学与电气工程学院）；Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong（香港中文大学机械与自动化工程系）
Centralization vs. decentralization in multi-robot sweep coverage with ground robots and UAVs
M.K. Heinrich, IRIDIA, Universit\' e Libre de Bruxelles, Brussels, Belgium A. Jamshidpey University of Ottawa, Ottawa, Canada M. Wahby Reverse Labs, Amsterdam, The Netherlands
