Related papers: Distributed Camouflage for Swarm Robotics and Smar…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
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…
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios,…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…
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…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
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.…
This paper proposes distributed omniscient observers for both heterogeneous and homogeneous linear multi-agent systems, such that each agent can correctly estimate the states of all agents. The observer design is based on local input-output…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
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…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
Swarm Intelligence (SI) is the property of a system whereby the collective behaviors of (unsophisticated) entities interacting locally with their environment cause coherent functional global patterns to emerge. SI provides a basis with…
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…
We apply diffusion strategies to develop a fully-distributed cooperative reinforcement learning algorithm in which agents in a network communicate only with their immediate neighbors to improve predictions about their environment. The…
We study a distributed framework for stochastic optimization which is inspired by models of collective motion found in nature (e.g., swarming) with mild communication requirements. Specifically, we analyze a scheme in which each one of $N >…
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…
Two fundamental problems of distributed computing are Gathering and Arbitrary pattern formation (\textsc{Apf}). These two tasks are different in nature as in gathering robots meet at a point but in \textsc{Apf} robots form a fixed pattern…
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…