A Distributed Swarm Aggregation Algorithm for Bar Shaped Multi-Robot Systems

In this work we consider a swarm of agents, which are shaped as bars with a certain orientation in the state space. Members of the swarm have to reach an aggregate state, while guaranteeing the collision avoidance and possibly achieving an angular consensus.

Adaptive Potential-Based Control Design for Multi-Agent Networks

In this work we address the problem of dynamically tuning gains for multi-agent networks under potential- based control design. We propose a distributed and adaptive gain controller that preserves a designed pairwise interaction strength, independent of the network size.

Firmware-Embedded Control Loop and Extended Kalman Filter for Crazyflie 2.0

In this work we consider the problem of introducing a low-level control loop and an Extended Kalman Filter (EKF) into the firmware of a Crazyflie 2.0 nano quadcopter . External position (x,y,z) measurements
are provided for the EKF by our OptiTrack Motion Capture System.