Related papers: Swarming, swirling and stasis in sequestered brist…

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…

We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…

A number of biological processes, such as embryo development, cancer metastasis or wound healing, rely on cells moving in concert. The mechanisms leading to the emergence of coordinated motion remain however largely unexplored. Although…

The spontaneous organization of collective activities in animal groups and societies has attracted a considerable amount of attention over the last decade. This kind of coordination often permits group-living species to achieve collective…

Gathering is a fundamental task for multi-agent systems and the problem has been studied under various assumptions on the sensing capabilities of mobile agents. This paper addresses the problem for a group of agents that are identical and…

This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…

Collective motion is one of the most fascinating phenomena observed in the nature. In the last decade, it aroused so much attention in physics, control and robotics fields. In particular, many studies have been done in swarm robotics…

A variety of agent-based models has been proposed to account for the emergence of coordinated collective behavior of animal groups from simple interaction rules. A common, simplifying assumption of such collective movement models, is the…

Swarming systems, such as drone fleets and robotic teams, exhibit complex dynamics driven by both individual behaviors and emergent group-level interactions. Unlike traditional multi-agent domains such as pedestrian crowds or traffic…

This paper considers a discrete time swarm model of a group of mobile autonomous agents with a simple attraction and repulsion function for swarm aggregation and investigates its stability properties. In particular, it is proved that the…

A collection of thin structures buckle, bend, and bump into each-other when confined. This contact can lead to the formation of patterns: hair will self-organize in curls; DNA strands will layer into cell nuclei; paper, when crumpled, will…

Contemporary sensorimotor learning approaches typically start with an existing complex agent (e.g., a robotic arm), which they learn to control. In contrast, this paper investigates a modular co-evolution strategy: a collection of primitive…

Clusters appear in nature in a diversity of contexts, involving distances as long as the cosmological ones, and down to atoms and molecules and the very small nuclear size. They also appear in several other scenarios, in particular in…

Collective decision-making arises from individual agents integrating their own personal observations with information obtained from social partners. In many biological systems that exhibit collective decision-making, the process by which…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

There is a belief that complexity and chaos are essential for adaptability. But life deals with complexity every moment, without the chaos that engineers fear so, by invoking goal-directed behaviour. Goals can be programmed. That is why…

Swarms are self-organized dynamical coupled agents which evolve from simple rules of communication. They are ubiquitous in nature, and be- coming more prominent in defense applications. Here we report on a preliminary study of swarm…

Self-oscillations underlie many natural phenomena such as heartbeat, ocean waves, and the pulsation of variable stars. From pendulum clocks to the behavior of animal groups, self-oscillation is one of the keys to the understanding of…

Collective perception is a foundational problem in swarm robotics, in which the swarm must reach consensus on a coherent representation of the environment. An important variant of collective perception casts it as a best-of-$n$…

Robot swarms can effectively serve a variety of sensing and inspection applications. Certain inspection tasks require a binary classification decision. This work presents an experimental setup for a surface inspection task based on…