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Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors,…
An important goal for swarming research is to create methods for predicting, controlling and designing swarms, which produce collective dynamics that solve a problem through emergent and stable pattern formation, without the need for…
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…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
Drone swarms are required for the simultaneous delivery of multiple packages. We demonstrate a multi-stop drone swarm-based delivery in a smart city. We leverage formation flying to conserve energy and increase the flight range of a drone…
Swarm perception refers to the ability of a robot swarm to utilize the perception capabilities of each individual robot, forming a collective understanding of the environment. Their distributed nature enables robot swarms to continuously…
This paper presents a particle swarm optimization algorithm that leverages surrogate modeling to replace the conventional global best solution with the minimum of an n-dimensional quadratic form, providing a better-conditioned dynamic…
Current strategies employed for maritime target search and tracking are primarily based on the use of agents following a predetermined path to perform a systematic sweep of a search area. Recently, dynamic Particle Swarm Optimization (PSO)…
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…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
Swarm robotic systems are currently being used to address many real-world problems. One interesting application of swarm robotics is the self-organized formation of structures and shapes. Some of the key challenges in the swarm robotic…
We propose an approach of open-ended evolution via the simulation of swarm dynamics. In nature, swarms possess remarkable properties, which allow many organisms, from swarming bacteria to ants and flocking birds, to form higher-order…
Abruptions to the communication infrastructure happens occasionally, where manual dedicated personnel will go out to fix the interruptions, restoring communication abilities. However, sometimes this can be dangerous to the personnel…
Mobile microrobots are envisioned to be useful in a wide range of high-impact applications, many of which requiring cohesive group formation to maintain self-bounded swarms in the absence of confining boundaries. Cohesive group formation…
Biological swarms, such as ant colonies, achieve collective goals through decentralized and stochastic individual behaviors. Similarly, physical systems composed of gases, liquids, and solids exhibit random particle motion governed by…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
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 distributed painting algorithm for painting a priori known rectangular region by swarm of autonomous mobile robots. We assume that the region is obstacle free and of rectangular in shape. The basic approach is to…
Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm…
The collective behavior of swarms is extremely difficult to estimate or predict, even when the local agent rules are known and simple. The presented work seeks to leverage the similarities between fluids and swarm systems to generate a…