Related papers: Diffusion of Information in Robot Swarms
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
In this paper, we use simulated swarms of robots to further explore the aggregation dynamics generated by these simple individual mechanisms. Our objective is to study the introduction of "informed robots", and to study how many of these…
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
This paper addresses a task allocation problem for a large-scale robotic swarm, namely swarm distribution guidance problem. Unlike most of the existing frameworks handling this problem, the proposed framework suggests utilising local…
We investigate ways for the exchange of information (explicit communication) among deaf and dumb mobile robots scattered in the plane. We introduce the use of movement-signals (analogously to flight signals and bees waggle) as a mean to…
In this paper, we provide a framework integrating distributed multi-robot systems and temporal epistemic logic. We show that continuous-discrete hybrid systems are compatible with logical models of knowledge already used in distributed…
In this work, we investigate swarm self-clustering, where robots autonomously organize into spatially coherent groups using only local sensing and decision-making, without external commands, global positioning, or inter-robot communication.…
Swarms of coupled mobile agents subject to inter-agent wireless communication delays are known to exhibit multiple dynamic patterns in space that depend on the strength of the interactions and the magnitude of the communication delays. We…
Swarms are highly robust systems that offer unique benefits compared to their alternatives. In this work, we propose a bio-inspired and artificial potential field-driven robot swarm control method, where the swarm formation dynamics are…
In the present work we address the problem of deploying a team of robots in a scenario where some locations of interest must be reached. Thus, a planning for a deployment is required, before sending the robots. The obstacles, the limited…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
Robot swarms often exhibit emergent behaviors that are fascinating to observe; however, it is often difficult to predict what swarm behaviors can emerge under a given set of agent capabilities. We seek to efficiently leverage human input to…
This paper reviews the current development of artificial intelligence (AI) techniques for the application area of robot communication. The study of the control and operation of multiple robots collaboratively toward a common goal is fast…
One of the main tasks for autonomous robot swarms is to collectively decide on the best available option. Achieving that requires a high quality communication between the agents that may not be always available in a real world environment.…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
Robot swarms offer the potential to serve a variety of distributed sensing applications. An interesting real-world application that stands to benefit significantly from deployment of swarms is structural monitoring, where traditional sensor…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…