Related papers: Dispersion and Line Formation in Artificial Swarm …
We present a deep reinforcement learning-based framework for automatically discovering patterns available in any given initial configuration of fat robot swarms. In particular, we model the problem of collision-less gathering and mutual…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
A standard belief on emerging collective behavior is that it emerges from simple individual rules. Most of the mathematical research on such collective behavior starts from imperative individual rules, like always go to the center. But how…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
Mathematical models for systems of interacting agents using simple local rules have been proposed and shown to exhibit emergent swarming behavior. Most of these models are constructed by intuition or manual observations of real phenomena,…
Social insects in nature such as ants, termites and bees construct their colonies collaboratively in a very efficient process. In these swarms, each insect contributes to the construction task individually showing redundant and parallel…
Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable…
This article presents a unique framework for deploying decentralized and infrastructure-independent swarms of homogeneous aerial vehicles in the real world without explicit communication. This is a requirement in swarm research, which…
The main contribution of this paper is a novel method allowing an external observer/controller to steer and guide swarms of identical and indistinguishable agents, in spite of the agents' lack of information on absolute location and…
Swarming behavior, where coherent motion emerges from the interactions of many mobile agents, is ubiquitous in physics and biology. Moreover, there are many efforts to replicate swarming dynamics in mobile robotic systems which take…
Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…
An Adversarial Swarm model consists of two swarms that are interacting with each other in a competing manner. In the present study, an agent-based Adversarial swarm model is developed comprising of two competing swarms, the Attackers and…
We explore a simplified class of models we call swarms, which are inspired by the collective behavior of social insects. We perform a mean-field stability analysis and perform numerical simulations of the model. Several interesting types of…
Swarm systems consist of large numbers of robots that collaborate autonomously. With an appropriate level of human control, swarm systems could be applied in a variety of contexts ranging from search-and-rescue situations to Cyber defence.…
Collective control of mobile microrobotic swarms is indispensable for their potential high-impact applications in targeted drug delivery, medical diagnostics, parallel micromanipulation, and environmental sensing and remediation. Lack of…
In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…
Artificial swarm systems have been extensively studied and used in computer science, robotics, engineering and other technological fields, primarily as a platform for implementing robust distributed systems to achieve pre-defined…
Swarm behaviour engineering is an area of research that seeks to investigate methods and techniques for coordinating computation and action within groups of simple agents to achieve complex global goals like pattern formation, collective…
The self-organization of robots for the formation of structures and shapes is a stimulating application of the swarm robotic system. It involves a large number of autonomous robots of heterogeneous behavior, coordination among them, and…
Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. However, most existing planners, whether classical or…