Formation Control Algorithms
We focus on the development of formation control algorithms for swarms of robots in situations where communication is not available or only minimal information is transmitted to near neighbors. We have published our first results in communication-free and index-free formation control of multi-robot systems and we are currently developing new algorithms to enable more complex configurations. Scalability and dynamic reallocation are key factors that we take into account.
The images below include an example of an arrow configuration where agents are able to measure the relative position of their neighbors, but achieve the final configuration without communication, and the simulation environment that we have developed to adjust algorithm parameters for different scenarios, as well as test the overall performance in terms of convergence speed and accuracy.
 Jorge Peña Queralta, Cassandra McCord, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "Communication-free and Index-free Distributed Formation Control Algorithm for Multi-robot Systems", Procedia Computer Science (2019) (View) (Download) (Researchgate)
 Cassandra McCord, Jorge Peña Queralta, Tuan Nguyen Gia and Tomi Westerlund, "Distributed Progressive Formation Control for Multi-Agent Systems: 2D and 3D deployment of UAVs in ROS/Gazebo with RotorS", European Conference on Mobile Robots (ECMR) (2019) (View) (Download)
 Jorge Peña Queralta, Li Qingqing, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Distributed Progressive Formation Control with One-Way Communication for Multi-Agent Systems", IEEE Symposium Series on Computational Intelligence (2019) (View) (Download) (Researchgate)
 Li Qingqing, Fu Yuhong, Jorge Pena Queralta, Tuan Nguyen Gia, Hannu Tenhunen, Zhou Zou and Tomi Westerlund, "Edge Computing for Mobile Robots:Multi-Robot Feature-Based Lidar Odometry with FPGAs", The 12th International Conference on Mobile Computing and Ubiquitous Networking (2019) (View) (Download) (Researchgate)
 Li Qingqing, Jorge Pena Queralta, Tuan Nguyen Gia, Hannu Tenhunen, Zhou Zou and Tomi Westerlund, "Visual Odometry Offloading in Internet of Vehicles with Compression at the Edge of the Network", The 12th International Conference on Mobile Computing and Ubiquitous Networking (2019) (View) (Download) (Researchgate)
 Jorge Peña Queralta, Carmen Martínez Almansa, Fabrizio Schiano, Dario Floreano, Tomi Westerlund, "UWB-based System for UAV Localization in GNSS-Denied Environments: Characterization and Dataset", Preprint (2020) (View) (Download)