Derives necessary and sufficient feasibility conditions for target density in leader-follower systems with follower interactions, plus a locally stabilizing feedback law with explicit basin of attraction.
Swarm robotics: a review from the swarm engineering perspective
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Presents a distributed data-driven zeroing control barrier function (3D-ZCBF) framework that derives explicit safety conditions from data to preserve communication network connectivity in leader-follower multi-agent systems.
CommandSwarm uses LoRA-adapted LLMs with safety filtering and deterministic parsing to generate valid behavior trees from text or speech, raising zero-shot BLEU to 0.663 and syntactic validity to 72% on synthetic swarm scenarios.
citing papers explorer
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Leader-Follower Density Control of Multi-Agent Systems with Interacting Followers: Feasibility and Convergence Analysis
Derives necessary and sufficient feasibility conditions for target density in leader-follower systems with follower interactions, plus a locally stabilizing feedback law with explicit basin of attraction.
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A Distributed Framework for Data-Driven Safe Coordination in Leader-Follower Networks
Presents a distributed data-driven zeroing control barrier function (3D-ZCBF) framework that derives explicit safety conditions from data to preserve communication network connectivity in leader-follower multi-agent systems.
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CommandSwarm: Safety-Aware Natural Language-to-Behavior-Tree Generation for Robotic Swarms
CommandSwarm uses LoRA-adapted LLMs with safety filtering and deterministic parsing to generate valid behavior trees from text or speech, raising zero-shot BLEU to 0.663 and syntactic validity to 72% on synthetic swarm scenarios.