Manuel Boldrer presents Distributed Lloyd-based algorithm for uncertainty-aware multi-robot under-canopy flocking
On 2026-03-19 11:00:00 at E112, Karlovo náměstí 13, Praha 2
we present a distributed algorithm for flocking in complex
environments that operates at constant altitude, without explicit
communication, no a priori information about the environment, and by using
only on-board sensing and computation capabilities. We provide sufficient
conditions to guarantee collision avoidance with obstacles and other robots
without exceeding a desired maximum distance from a predefined set of
neighbors (flocking or proximity maintenance constraint) during the mission.
The proposed approach allows to operate in crowded scenarios and to
explicitly
deal with tracking errors and on-board sensing errors. The algorithm was
verified through simulations with varying number of UAVs and also through
numerous real-world experiments in a dense forest involving up to four UAVs.
https://arxiv.org/pdf/2504.18840
This will be a short seminar (10-20 min)
environments that operates at constant altitude, without explicit
communication, no a priori information about the environment, and by using
only on-board sensing and computation capabilities. We provide sufficient
conditions to guarantee collision avoidance with obstacles and other robots
without exceeding a desired maximum distance from a predefined set of
neighbors (flocking or proximity maintenance constraint) during the mission.
The proposed approach allows to operate in crowded scenarios and to
explicitly
deal with tracking errors and on-board sensing errors. The algorithm was
verified through simulations with varying number of UAVs and also through
numerous real-world experiments in a dense forest involving up to four UAVs.
https://arxiv.org/pdf/2504.18840
This will be a short seminar (10-20 min)
External www: https://arxiv.org/pdf/2504.18840