Research Videos

This is my old website. New website:

Here are some videos about my research. I have also provided descriptions and references for these videos.

Multi-Agent Moving-Obstacles Spherical Expansion and Sequential Convex Programming (MAMO SE–SCP) Algorithm

Description: 48 agents achieve the desired formation in a cluttered environment, with unknown moving obstacles.

Reference: S. Bandyopadhyay, F. Baldini, R. Foust, S.-J. Chung, A. Rahmani, J.-P. de la Croix, F. Y. Hadaegh, “Distributed Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments,” AIAA Space, Orlando, Florida, Sept., 2017.


Probabilistic Swarm Guidance using Inhomogeneous Markov Chains (PSG-IMC)

Description: A swarm of a million agents achieves interesting shapes like the Taj Mahal and the Eiffel Tower using the PSG-IMC algorithm. Please see the paper for more details.

Reference: S. Bandyopadhyay, S.-J. Chung and F. Y. Hadaegh, “Probabilistic and Distributed Control of a Large-Scale Swarm of Autonomous Agents,” IEEE Transactions on Robotics (TRO), vol. 33, no. 3, pp. 1103-1123, Oct., 2017.

Description: Each agent executes PSG-IMC to independently determine its transition probability to form the desired formation shape. The agents then reach the target bin using an MPC-SCP based algorithm. We show experimental validation of the combined algorithm using quadrotors.

Reference: D. Morgan, G. P. Subramanian, S. Bandyopadhyay, S.-J. Chung and F. Y. Hadaegh, “Probabilistic Swarm Guidance using Sequential Convex Programming for Quadrotor Teams,” International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, September, 2014.


Probabilistic Swarm Guidance using Optimal Transport (PSG-OT)

Description: 5000 agents converge to the desired formation “UIUC” in an optimal distributed manner using PSG-OT. After 3rd time step, 1250 agents in the letter “I” are removed and the remaining agents autonomously reconfigure to the desired formation. The transient agents are in red and the remaining stationary agents are in blue.

Reference: S. Bandyopadhyay, S.-J. Chung, and F. Y. Hadaegh, “Probabilistic Swarm Guidance using Optimal Transport,” IEEE Multi-Conference on Systems and Control (MSC), Antibes, France, Oct. 2014. (Best Student Paper Award Finalist)