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Robot swarms can be tasked with a variety of automated sensing and inspection applications in aerial, aquatic, and surface environments. In this paper, we study a simplified two-outcome surface inspection task. We task a group of robots to…
We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the…
Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault…
We investigate algorithmic control of a large swarm of mobile particles (such as robots, sensors, or building material) that move in a 2D workspace using a global input signal (such as gravity or a magnetic field). We show that a maze of…
We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation for drones is challenging due to complex aerodynamic…
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…
Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are…
We present a number of powerful local mechanisms for maintaining a dynamic swarm of robots with limited capabilities and information, in the presence of external forces and permanent node failures. We propose a set of local continuous…
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…
Automatic design is a promising approach to realizing robot swarms. Given a mission to be performed by the swarm, an automatic method produces the required control software for the individual robots. Automatic design has concentrated on…
When designing swarm-robotic systems, systematic comparison of algorithms from different domains is necessary to determine which is capable of scaling up to handle the target problem size and target operating conditions. We propose a set of…
An important problem in microrobotics is how to control a large group of microrobots with a global control signal. This paper focuses on controlling a large-scale swarm of MicroStressBots with on-board physical finite-state machines. We…
One of the major motifs in collective or swarm intelligence is that, even though individuals follow simple rules, the resulting global behavior can be complex and intelligent. In artificial swarm systems, such as swarm robots, the goal is…
This paper presents a proof-of concept study for demonstrating the viability of building collaboration among multiple agents through standard Q learning algorithm embedded in particle swarm optimisation. Collaboration is formulated to be…
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.…
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…
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…
We present a new version of our previously proposed algorithm enabling a swarm of robots to construct a desired shape from objects in the plane. We also describe a hardware realization for this system which makes use of simple and readily…
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…
This paper presents a novel swarm robotics application of chemotaxis behaviour observed in microorganisms. This approach was used to cause exploration robots to return to a work area around the swarm's nest within a boundless environment.…