Related papers: Controlling Swarms: A Programming Paradigm with Mi…
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…
The ubiquity of portable wireless-enabled computing and communications devices has stimulated the emergence of malicious codes (wireless worms) that are capable of spreading between spatially proximal devices. The potential exists for worms…
The growing number of noncooperative flying objects has prompted interest in sample-return and space debris removal missions. Current solutions are both costly and largely dependent on specific object identification and capture methods. In…
Swarms of small spacecraft offer whole new capabilities in Earth observation, global positioning and communications compared to a large monolithic spacecraft. These small spacecrafts can provide bigger apertures that increase gain in…
The development of control policies for multi-robot systems traditionally follows a complex and labor-intensive process, often lacking the flexibility to adapt to dynamic tasks. This has motivated research on methods to automatically create…
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 wich…
Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…
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…
Swarming systems, such as drone fleets and robotic teams, exhibit complex dynamics driven by both individual behaviors and emergent group-level interactions. Unlike traditional multi-agent domains such as pedestrian crowds or traffic…
UAV swarms have triggered wide concern due to their potential application values in recent years. While there are studies proposed in terms of the architecture design for UAV swarms, two main challenges still exist: (1) Scalability,…
This paper investigates the role of communication in improving coordination within robot swarms, focusing on a paradigm where learning and execution occur simultaneously in a decentralized manner. We highlight the role communication can…
Motivated by the benefits of small world networks, we propose a self-organization framework for wireless ad hoc networks. We investigate the use of directional beamforming for creating long-range short cuts between nodes. Using simulation…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
This paper presents a unified mathematical theory of swarms where the dynamics of social behaviors interacts with the mechanical dynamics of self-propelled particles. The term behavioral swarms is introduced to characterize the specific…
Designing controllers for robot swarms is challenging, because human developers have typically no good understanding of the link between the details of a controller that governs individual robots and the swarm behavior that is an indirect…
Natural systems are inextricably affected by noise. Within recent decades, the manner in which noise affects the collective behavior of self-organized systems, specifically, has garnered considerable interest from researchers and developers…
This paper describes a technique for the autonomous mission planning of unmanned aerial system swarms. Given a swarm operating in a known area, a central command system generates measurements from the swarm. If those measurements indicate…
Contemporary swarm indicators are often used in isolation, focused on extracting information at the individual or collective levels. Consequently, these are seldom integrated to infer a top-level operating picture of the swarm, its members,…
The survivable network concept refers to contexts where the wireless communication between ground agents needs to be maintained as much as possible at all times, regardless of any adverse conditions that may arise. In this paper we propose…
Nature offers remarkable examples of complex photonic architectures such as those responsible for the iridescent colors of butterfly wings that emerge spontaneously during growth, well before any centralized control takes place. Arising…