Sasanka Nagavalli

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Robotic swarms are distributed systems whose members interact via local control laws to achieve a variety of behaviors, such as flocking. In many practical applications, human operators may need to change the current behavior of a swarm from the goal that the swarm was going towards into a new goal due to dynamic changes in mission objectives. There are two(More)
— Robotic swarms are distributed systems whose members interact via local control laws to achieve different behaviors. Practical missions may require a combination of different swarm behaviors, where these behavioral combinations are not known a priori but could arise dynamically due to changes in mission goals. Therefore, human interaction with the swarm(More)
— In this paper, we present both centralized and distributed algorithms for aligning coordinate frames in multi-robot systems based on inter-robot relative position measurements. Robot orientations are not measured, but are computed by our algorithms. Our algorithms are robust to measurement error and are useful in applications where a group of robots need(More)
— This paper presents asynchronous distributed algorithms for information leader selection in multi-robot systems based on local communication between each robot and its direct neighbours in the system's communication graph. In particular, the information leaders refer to a small subset of robots that are near the boundary of the swarm and suffice to(More)
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