Related papers: ROS and Buzz: consensus-based behaviors for hetero…
This paper presents an algorithmic framework for the distributed on-line source seeking, termed as 'DoSS', with a multi-robot system in an unknown dynamical environment. Our algorithm, building on a novel concept called dummy confidence…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…
Minimalistic robot swarms offer a scalable, robust, and cost-effective approach to performing complex tasks with the potential to transform applications in healthcare, disaster response, and environmental monitoring. However, coordinating…
In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
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…
In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…
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…
This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
Achieving scalable coordination in large robotic swarms is often constrained by reliance on inter-agent communication, which introduces latency, bandwidth limitations, and vulnerability to failure. To address this gap, a decentralized…
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…
Despite significant research, robotic swarms have yet to be useful in solving real-world problems, largely due to the difficulty of creating and controlling swarming behaviors in multi-agent systems. Traditional top-down approaches in which…
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…
Reaching a consensus in a swarm of robots is one of the fundamental problems in swarm robotics, examining the possibility of reaching an agreement within the swarm members. The recently-introduced contamination problem offers a new…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natural dangers in the environment can inform the decision-making…
In this work, we present preliminary work on a novel method for Human-Swarm Interaction (HSI) that can be used to change the macroscopic behavior of a swarm of robots with decentralized sensing and control. By integrating a small yet…
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…