Our recently introduced self-organizing nervous system (SoNS) provides robot swarms with 1) ease of behavior design and 2) global estimation of the swarm configuration and its collective environment, facilitating the implementation of online automatic code generation for robot swarms. In a demonstration with 6 real robots and simulation trials with >30 robots, we show that when a SoNS-enhanced robot swarm gets stuck, it can automatically solicit and run code generated by an external LLM on the fly, completing its mission with an 85% success rate.
Cite
@article{arxiv.2510.04774,
title = {Online automatic code generation for robot swarms: LLMs and self-organizing hierarchy},
author = {Weixu Zhu and Marco Dorigo and Mary Katherine Heinrich},
journal= {arXiv preprint arXiv:2510.04774},
year = {2025}
}
Comments
This abstract was accepted to and presented at the "Multi-Agent Cooperative Systems and Swarm Robotics in the Era of Generative AI" (MACRAI) workshop at the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)