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Applications of large-scale mobile multi-robot systems can be beneficial over monolithic robots because of higher potential for robustness and scalability. Developing controllers for multi-robot systems is challenging because the multitude…
This paper proposes a novel control framework for robotic swarms capable of turning a musical input into a painting. The approach connects the two artistic domains, music and painting, leveraging their respective connections to fundamental…
Designing controllers for robot swarms is challenging, because human developers have typically no good understanding of the link between the details of a controller that governs individual robots and the swarm behavior that is an indirect…
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…
Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm, an ultra-lightweight and scalable planner designed…
The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…
Natural groups of animals, such as swarms of social insects, exhibit astonishing degrees of task specialization, useful to address complex tasks and to survive. This is supported by phenotypic plasticity: individuals sharing the same…
This article presents the design and the implementation of a cloud system for knowledge-based autonomous interaction devised for Social Robots and other conversational agents. The system is particularly convenient for low-cost robots and…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This paper investigates the role of communication in improving coordination within robot swarms, focusing on a paradigm where learning and execution occur simultaneously in a decentralized manner. We highlight the role communication can…
Multi-robot collaboration in large-scale environments with limited-sized teams and without external infrastructure is challenging, since the software framework required to support complex tasks must be robust to unreliable and intermittent…
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…
Algorithms implementing populations of agents which interact with one another and sense their environment may exhibit emergent behavior such as self-organization and swarm intelligence. Here a swarm system, called Databionic swarm (DBS), is…
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…
The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language interfaces offers a unified approach for expressing the…
Rapid performance recovery from unforeseen environmental perturbations remains a grand challenge in swarm robotics. To solve this challenge, we investigate a behaviour adaptation approach, where one searches an archive of controllers for…
While multi-robot systems have been broadly researched and deployed, their success is built chiefly upon the dependency on network infrastructures, whether wired or wireless. Aiming at the first steps toward de-coupling the application of…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
Swarm robotics explores the coordination of multiple robots to achieve collective goals, with collective decision-making being a central focus. This process involves decentralized robots autonomously making local decisions and communicating…
Mobile robots have become indispensable for exploring hostile environments, such as in space or disaster relief scenarios, but often remain limited to teleoperation by a human operator. This restricts the deployment scale and requires…