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

Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…

Motivated by advances is nanoscale applications and simplistic robot agents, we look at problems based on using a global signal to move all agents when given a limited number of directional signals and immovable geometry. We study a model…

Information dissemination is a fundamental and frequently occurring problem in large, dynamic, distributed systems. In order to solve this, there has been an increased interest in creating efficient overlay networks that can maintain…

We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free…

In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under…

We present a geometric design rule for size-controlled clustering of self-propelled particles. We show that active particles that tend to rotate under an external force have an intrinsic, signed parameter with units of curvature which we…

We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity…

In the gathering problem, n autonomous robots have to meet on a single point. We consider the gathering of a closed chain of point-shaped, anonymous robots on a grid. The robots only have local knowledge about a constant number of…

Particle swarm optimization (PSO) is a search algorithm based on stochastic and population-based adaptive optimization. In this paper, a pathfinding strategy is proposed to improve the efficiency of path planning for a broad range of…

A cooperative robot swarm is a collective of computationally-limited robots that share a common goal. Each robot can only interact with a small subset of its peers, without knowing how this affects the collective utility. Recent advances in…

We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…

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…

We develop and analyze algorithms for dispersing a swarm of primitive robots in an unknown environment, R. The primary objective is to minimize the makespan, that is, the time to fill the entire region. An environment is composed of pixels…

This thesis is concerned with continuous, static, and single-objective optimization problems subject to inequality constraints. Nevertheless, some methods to handle other kinds of problems are briefly reviewed. The particle swarm…

Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…

We consider the problem of finding distributed controllers for large networks of mobile robots with interacting dynamics and sparsely available communications. Our approach is to learn local controllers that require only local information…

This paper addresses the problem of autonomous task allocation by a swarm of autonomous, interactive drones in large-scale, dynamic spatio-temporal environments. When each drone independently determines navigation, sensing, and recharging…

The problem of gathering multiple mobile robots to a single location, is one of the fundamental problems in distributed coordination between autonomous robots. The problem has been studied and solved even for robots that are anonymous,…

Bacteria are perhaps the simplest living systems capable of complex behaviour involving sensing and coherent, collective behaviour an example of which is the phenomena of swarming on agar surfaces. Two fundamental questions in bacterial…

We investigate the algorithmic problem of uniformly dispersing a swarm of robots in an unknown, gridlike environment. In this setting, our goal is to study the relationships between performance metrics and robot capabilities. We introduce a…