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This paper address the challenges encountered by developers when deploying a distributed decision-making behavior on heterogeneous robotic systems. Many applications benefit from the use of multiple robots, but their scalability and…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
Swarm robotics is an emerging field of research which is increasingly attracting attention thanks to the advances in robotics and its potential applications. However, despite the enthusiasm surrounding this area of research, software…
Real life implementations of distributed swarm robotics are rare. The standardization of a general purpose swarm robotics platform could greatly accelerate swarm robotics towards real life implementations. The SwarmUS platform is an…
Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and…
Swarm robotics has experienced a rapid expansion in recent years, primarily fueled by specialized multi-robot systems developed to achieve dedicated collective actions. These specialized platforms are in general designed with swarming…
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…
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…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
More widespread adoption requires swarms of robots to be more flexible for real-world applications. Multiple challenges remain in complex scenarios where a large amount of data needs to be processed in real-time and high degrees of…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
Most studies in swarm robotics treat the swarm as an isolated system of interest. We argue that the prevailing view of swarms as self-sufficient, independent systems limits the scope of potential applications for swarm robotics. A robot…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
The development of control policies for multi-robot systems traditionally follows a complex and labor-intensive process, often lacking the flexibility to adapt to dynamic tasks. This has motivated research on methods to automatically create…
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…
Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…
Representation and control of the dynamics of stigmergic substances used by bio-inspired approaches is a challenge when applied to robotics. In order to overcome this challenge, this work proposes a model to coordinate swarms of robots…
Multi-robot swarms play an essential role in complex missions including battlefield reconnaissance, agricultural pest monitoring, as well as disaster search and rescue. Unfortunately, given the complexity of swarm algorithms, logical…