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In this study, we investigate the emergence of naming conventions within a swarm of robots that collectively forage, that is, collect resources from multiple sources in the environment. While foraging, the swarm explores the environment and…
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…
Robot swarms offer inherent robustness and the capacity to execute complex, collaborative tasks surpassing the capabilities of single-agent systems. Co-designing these systems is critical, as marginal improvements in individual performance…
Experiments using large numbers of miniature swarm robots are desirable to teach, study, and test multi-robot and swarm intelligence algorithms and their applications. To realize the full potential of a swarm robot, it should be capable of…
Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm…
One of the key challenges in the collaboration within heterogeneous multi-robot systems is the optimization of the amount and type of data to be shared between robots with different sensing capabilities and computational resources. In this…
We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…
In this paper a modular and scalable architecture for heterogeneous swarm-based Counter Unmanned Aerial Systems (C-UASs) built on PX4-Autopilot and Robot Operating System 2 (ROS 2) framework is presented. The proposed architecture…
We study the problem of determining the emergent behaviors that are possible given a functionally heterogeneous swarm of robots with limited capabilities. Prior work has considered behavior search for homogeneous swarms and proposed the use…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
In this paper, we introduce Hebbian learning as a novel method for swarm robotics, enabling the automatic emergence of heterogeneity. Hebbian learning presents a biologically inspired form of neural adaptation that solely relies on local…
Smooth coordination within a swarm robotic system is essential for the effective execution of collective robot missions. Having efficient communication is key to the successful coordination of swarm robots. This paper proposes a new…
The system architecture controlling a group of robots is generally set before deployment and can be either centralized or decentralized. This dichotomy is highly constraining, because decentralized systems are typically fully self-organized…
In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
This paper presents the software architecture and deployment strategy behind the MoonBot platform: a modular space robotic system composed of heterogeneous components distributed across multiple computers, networks and ultimately celestial…
Swarm robotic search is concerned with searching targets in unknown environments (e.g., for search and rescue or hazard localization), using a large number of collaborating simple mobile robots. In such applications, decentralized swarm…
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…
Acoustophoresis has enabled novel interaction capabilities, such as levitation, volumetric displays, mid-air haptic feedback, and directional sound generation, to open new forms of multimodal interactions. However, its traditional…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…