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Robotic swarms are decentralized multi-robot systems whose members use local information from proximal neighbors to execute simple reactive control laws that result in emergent collective behaviors. In contrast, members of a general…

We investigate the scenario that a robot needs to reach a designated goal after taking a sequence of appropriate actions in a non-static environment that is partially structured. One application example is to control a marine vehicle to…

This research paper addresses the challenges of exploration and navigation in unknown environments from an evolutionary swarm robotics perspective. Path formation plays a crucial role in enabling cooperative swarm robots to accomplish these…

To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, path planning, and formation control, and mission-specific…

Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…

This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…

RecentadvancesinDistributedComputinghighlightmodelsandalgo- rithms for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade algorithms…

Several problems in modeling and control of stochastically-driven dynamical systems can be cast as regularized semi-definite programs. We examine two such representative problems and show that they can be formulated in a similar manner. The…

Using the spatial structure of various indoor environments as prior knowledge, the robot would construct the map more efficiently. Autonomous mobile robots generally apply simultaneous localization and mapping (SLAM) methods to understand…

In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…

This paper presents a data structure that summarizes distances between configurations across a robot configuration space, using a binary space partition whose cells contain parameters used for a locally linear approximation of the distance…

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.…

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,…

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…

Robot swarms, systems of many robots that operate in a distributed fashion, have many applications in areas such as search-and-rescue, natural disaster response, and self-assembly. Several of these applications can be abstracted to the…

When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…

Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot…

Self-organization of heterogeneous particle swarms is rich in its dynamics but hard to design in a traditional top-down manner, especially when many types of kinetically distinct particles are involved. In this chapter, we discuss how we…

Mapping is an essential task for mobile robots and topological representation often works as a basis for the various applications. In this paper, a novel framework that can build topological maps incrementally is proposed. The algorithm is…

In order to overcome difficult dynamic optimization and environment extrema tracking problems, We propose a Self-Regulated Swarm (SRS) algorithm which hybridizes the advantageous characteristics of Swarm Intelligence as the emergence of a…