Related papers: Collecting a Swarm in a Grid Environment Using Sha…

We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…

Large swarms of autonomous devices are increasing in size and importance. When it comes to controlling the devices of large-scale swarms there are two main lines of thought. Centralized control, where all decisions - and often compute -…

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…

With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…

We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…

Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…

Collective decision-making is a key function of autonomous robot swarms, enabling them to reach a consensus on actions based on environmental features. Existing strategies require the participation of all robots in the decision-making…

We present a set of metrics intended to supplement designer intuitions when designing swarm-robotic systems, increase accuracy in extrapolating swarm behavior from algorithmic descriptions and small test experiments, and lead to faster and…

In this paper, we introduce a semi-decentralized control technique for a swarm of robots transporting a fragile object to a destination in an uncertain occluded environment.The proposed approach has been split into two parts. The initial…

With the rapid development of AI and robotics, transporting a large swarm of networked robots has foreseeable applications in the near future. Existing research in swarm robotics has mainly followed a bottom-up philosophy with predefined…

We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…

With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…

Distributed gathering algorithms aim to achieve complete visibility graphs via a "never lose a neighbour" policy. We suggest a method to maintain connected graph topologies, while reducing the number of effective edges in the graph to order…

Small-size robots offer access to spaces that are inaccessible to larger ones. This type of access is crucial in applications such as drug delivery, environmental detection, and collection of small samples. However, there are some tasks…

Particle swarm optimization (PSO) is a widely used nature-inspired meta-heuristic for solving continuous optimization problems. However, when running the PSO algorithm, one encounters the phenomenon of so-called stagnation, that means in…

In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…

A swarm of anonymous oblivious mobile robots, operating in deterministic Look-Compute-Move cycles, is confined within a circular track. All robots agree on the clockwise direction (chirality), they are activated by an adversarial…

The study of robotic flocking has received considerable attention in the past twenty years. As we begin to deploy flocking control algorithms on physical multi-agent and swarm systems, there is an increasing necessity for rigorous promises…

Swarm Robotics is an emerging field of adapting the phenomenon of natural swarms to robotics. It is a study of robots that are aimed to mimic natural swarms, like ants and birds, to form a system that is scalable, flexible, and robust.…

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…