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Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
The increasing complexity of marine operations has intensified the need for intelligent robotic systems to support ocean observation, exploration, and resource management. Underwater swarm robotics offers a promising framework that extends…
Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…
This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…
This work is devoted to communication approaches, which spread information in robot swarms. These mechanisms are useful for large-scale systems and also for such cases when a limited communication equipment does not allow routing of…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
Distributed optimization provides a framework for deriving distributed algorithms for a variety of multi-robot problems. This tutorial constitutes the first part of a two-part series on distributed optimization applied to multi-robot…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…
The emerging collective motions of swarms of interacting agents are a subject of great interest in application areas ranging from biology to physics and robotics. In this paper, we conduct a careful analysis of the collective dynamics of a…
Swarm systems constitute a challenging problem for reinforcement learning (RL) as the algorithm needs to learn decentralized control policies that can cope with limited local sensing and communication abilities of the agents. While it is…
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…
Humans have an impressive ability to solve complex coordination problems in a fully distributed manner. This ability, if learned as a set of distributed multirobot coordination strategies, can enable programming large groups of robots to…
In this paper, we develop a distributed monitoring framework for robot swarms so that the agents can monitor whether the executions of robot swarms satisfy Swarm Signal Temporal Logic (SwarmSTL) formulas. We define generalized moments (GMs)…
Premature convergence in particle swarm optimization (PSO) algorithm usually leads to gaining local optimum and preventing from surveying those regions of solution space which have optimal points in. In this paper, by applying special…
This paper proposes a model-based framework to automatically and efficiently design understandable and verifiable behaviors for swarms of robots. The framework is based on the automatic extraction of two distinct models: 1) a neural network…
In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the…
Social insects in nature such as ants, termites and bees construct their colonies collaboratively in a very efficient process. In these swarms, each insect contributes to the construction task individually showing redundant and parallel…