군집 로봇 공학은 대규모 로봇 집단이 복잡한 작업을 집단적으로 수행할 수 있도록 하는 분산 제어 메커니즘을 연구합니다. 다중 로봇 조정은 편대 제어 및 충돌 회피를 달성하기 위해 분산 알고리즘과 합의 프로토콜에 의존합니다. 스티그머지와 생체 모방 알고리즘은 로봇 집단 내에서 자기 조직화 및 적응 행동을 유도합니다. 로봇 떼를 지어 몰려드는 떼. 의사소통 프로토콜은 견고한 정보 교환을 촉진하여 작업 할당 및 분산 감지를 지원합니다. 확장성과 내결함성은 이기종 군집 시스템에서 여전히 중요한 과제입니다.
본 자료는 군집 로봇 공학, 분산 제어, 군집 지능, 다중 로봇 조정, 분산 알고리즘, 로봇 군집 운동, 스티그머지, 합의 알고리즘, 편대 제어, 충돌 회피, 로봇 위치 추정, 로봇 작업 할당, 로봇 통신 프로토콜, 로봇 자율 조직화, 로봇 군집 확장성, 생체 모방 알고리즘, 로봇 탐색, 분산 센싱, 로봇 집합, 군집 로봇 시뮬레이션, 로봇 경로 계획, 로봇 군집 내비게이션, 로봇 군집 배치, 로봇 적응 행동, 로봇 군집 학습, 분산 의사 결정, 로봇 군집 지도 작성 및 이종 군집 시스템 등 다양한 주제로 분류 및 집중적으로 다룬 전 세계 영문 논문 및 특허를 엄선하여 정리한 것입니다.
Collision detector for vhsp/gpon coexistence with throughput flexibility
Patent published on the 2026-05-21 in WO under Ref WO2026104037 by CANO VALADEZ IVAN NICOLAS [DE] (Cano Valadez Ivan Nicolas [de], Kuschnerov Maxim [de])
Abstract: The present disclosure enhances collision detection in passive optical network standards operation in overlapping wavelength portions. Compared to other methods and devices, it avoids a waste of channel capacity and allows for more efficient communication while at the same time ensuring backwards compatibility with existing standards and thus promoting cost-efficiency. Specifically, the present disclosure provides a method for multi-standard coexistence in a passive optical network, comprising: [...]
Our summary: The disclosure presents an enhanced collision detection method for passive optical networks operating in overlapping wavelengths. It improves communication efficiency while maintaining compatibility with existing standards. The method includes multiple stages for identifying and mitigating potential collisions between optical signals.
collision detection, passive optical networks, wavelength overlap, throughput flexibility
Patent
Adaptive random-walk scheduling for ble beacon transmissions
Patent published on the 2026-05-07 in WO under Ref WO2026094013 by CARTASENSE LTD [IL] (Kaufmann Yaron [il], Berkovitch Shlomo [il], Peled Aviv [il])
Abstract: A method for Bluetooth Low Energy (BLE) advertising includes determining, by a controller of a BLE device, a next transmission time for advertising content using a bounded mean-reverting random-walk process. The determination is based on a next drift variable (Δtn+1), a base interval value (T0), and a random jitter component (J). The next drift variable is determined based on a current drift variable (Δtn), a first parameter (λ), a random variable (ξn) and a scaling factor (σ) set to determ[...]
Our summary: The method uses a bounded mean-reverting random-walk process to determine BLE advertising transmission times. It autonomously transmits content based on drift variables and a random jitter component. This approach enhances collision avoidance in dense environments by enabling desynchronization among nearby BLE devices.
BLE advertising, random-walk process, collision avoidance, autonomous transmission
Patent
System and method for deactivating the collision avoidance function of a vehicle
Patent published on the 2026-04-22 in EP under Ref EP4729909 by TOYOTA MOTOR CO LTD [JP] (Sawano Takuro [jp], Koide Toshihiro [jp], Nagafuchi Yuhei [jp])
Abstract: A system includes: a first acquisition unit that acquires reliability of a first sensor that is a sensor mounted on a vehicle having a collision avoidance function of avoiding collision against an obstacle based on a distance between the vehicle and the obstacle, and detects the distance between the vehicle and the obstacle; a second acquisition unit that acquires reliability of a second sensor that is a sensor disposed outside the vehicle, and detects a distance between the vehicle and an inspe[...]
Our summary: The system monitors the reliability of two sensors related to collision avoidance. It compares the reliability of an internal sensor with an external inspection sensor. If the internal sensor s reliability is lower, it deactivates the collision avoidance function.
collision avoidance, sensor reliability, vehicle safety, function deactivation
Patent
Blockchain witnessing method and system
Patent published on the 2026-04-15 in EP under Ref EP4727050 by QPQ AG [CH] (Chew Gregory [ch], Wiger Ulf [ch], Everett Craig [ch], Ivanov Dimitar [ch])
Abstract: [0001] A system and method of blockchain witnessing wherein a structural key block without transaction data is used to validate the structural integrity of the blockchain via a consensus algorithm without exposing transaction data to selective validation. A preceding generation of the blockchain is sealed once the proofs of validation of the structural key block are added to the blockchain in a subsequently validated structural key block.[...]
Our summary: A method and system for blockchain witnessing uses a structural key block to validate blockchain integrity. This process employs a consensus algorithm without revealing transaction data. Validation proofs are added to the blockchain to seal the preceding generation.
Blockchain, witnessing, consensus algorithm, structural integrity
Patent
A case study for multiple chaotic mapping snake optimizer
Published on 2026-03-26 by @OXFORD
Abstract: AbstractIn recent years, chaos theory has been widely incorporated into metaheuristic optimization algorithms to enhance their search performance. However, for a given algorithm, there is still a lack of systematic and large-scale comparison regarding the effectiveness of different chaotic maps, and no clear consensus has yet been reached. To address this issue, this paper reviews 12 commonly used classical chaotic maps and summarizes three typical integration strategies of chaotic maps in bio-i[...]
Our summary: This study evaluates the effectiveness of 12 chaotic maps integrated into the snake optimizer. Simulation experiments reveal that performance improvements vary based on map type and problem characteristics. The tent chaotic map shows the most consistent enhancement, while a comparative analysis highlights the chaotic snake optimizer s advantages and limitations.
chaotic mapping, snake optimizer, metaheuristic optimization, bio-inspired algorithms
Publication
High-Precision Marine Radar Object Detection Using Tiled Training and SAHI Enhanced YOLOv11-OBB
Published on 2026-02-02 by Sercan Klc @MDPI
Abstract: Reliable object detection in marine radar imagery is critical for maritime situational awareness, collision avoidance, and autonomous navigation. However, it remains challenging due to sea clutter, small targets, and interference from fixed navigational aids. This study proposes a high-precision detection pipeline that integrates tiled training, Sliced Aided Hyper Inference (SAHI), and an oriented bounding box (OBB) variant of the lightweight YOLOv11 architecture. The proposed approach effective[...]
Our summary: This study presents a high-precision detection pipeline for marine radar imagery using tiled training and SAHI with YOLOv11-OBB. The method effectively addresses challenges like sea clutter and small targets, achieving an [email protected] over 0.95. Results indicate improved performance on small targets and enable near real-time inference on edge hardware.
Marine Radar, Object Detection, YOLOv11, Tiled Training
Publication
Obstacle Avoidance for Multirotor Urban Air Mobility via Prediction-Based Control Barrier Functions
Published on 2026-02-02 by Ali Mesbah, Jafar Roshanian, Dimitar Ginchev @MDPI
Abstract: This paper applies the recently developed Prediction-Based Control Barrier Functions (PB-CBFs) to the obstacle avoidance problem for multirotor air taxis in Urban Air Mobility (UAM). Unlike conventional Control Barrier Functions (CBFs), PB-CBFs incorporate escape path predictions into the formulation, facilitating safe controller design for dynamical systems with high relative degree and enabling safety under strict control constraints. We first review the PB-CBF framework, then formulate the sa[...]
Our summary: This paper introduces Prediction-Based Control Barrier Functions (PB-CBFs) for obstacle avoidance in multirotor air taxis. It formulates safety requirements and invariance conditions specific to collision avoidance. The approach is validated through simulations, highlighting its effectiveness in ensuring safety in Urban Air Mobility operations.
Obstacle Avoidance, Prediction-Based Control, Multirotor, Urban Air Mobility
Publication
Image-Based Visual Servoing for Quadrotor Formation Encirclement and Tracking of Unknown Targets
Published on 2026-01-30 by Hanyu Guo, Tao Song, Jianchuan Ye, Yusra Abdulrahman, Xuechen Gu, Tao Jiang, Yihao Dong @MDPI
Abstract: A target state estimation method based on multiple quadrotors is proposed for unknown maneuvering targets, and a distributed formation control method Image-Based Visual Servoing (IBVS) is also proposed to achieve encirclement tracking of unknown maneuvering targets. In the tracking control, collision avoidance constraints for nodes within the formation are also introduced, and based on the shared position information within the formation, the positions of other nodes within the Field of View (FO[...]
Our summary: The study presents a method for estimating the state of unknown maneuvering targets using multiple quadrotors. It introduces a distributed Image-Based Visual Servoing control approach for encirclement tracking while ensuring collision avoidance among the quadrotors. Simulation results indicate a significant improvement in target velocity estimation accuracy and reduced tracking errors compared to traditional methods.
Image-Based Visual Servoing, Quadrotor Formation, Target State Estimation, Collision Avoidance
Publication
