Related papers: Controlling Swarms: A Programming Paradigm with Mi…
Swarm Robotics is an emerging field of adapting the phenomenon of natural swarms to robotics. It is a study of robots that are aimed to mimic natural swarms, like ants and birds, to form a system that is scalable, flexible, and robust.…
Automatic design is a promising approach to realizing robot swarms. Given a mission to be performed by the swarm, an automatic method produces the required control software for the individual robots. Automatic design has concentrated on…
Unmanned aerial vehicle (UAV) swarms encounter the challenge of high overhead due to both network management and formation control requirements. In this paper, we propose a Bio-inspired Integrated Networking and Control (BINC) scheme,…
Swarm guidance addresses a challenging problem considering the navigation and control of a group of passive agents. To solve this problem, shepherding offers a bio-inspired technique of navigating such group of agents by using external…
Wireless sensor networks (WSNs) are composed of spatially distributed sensors and are considered vulnerable to attacks by worms and their variants. Due to the distinct strategies of worms propagation, the dynamic behavior varies depending…
The rapid adoption of Large Language Models (LLMs) in unmanned systems has significantly enhanced the semantic understanding and autonomous task execution capabilities of Unmanned Aerial Vehicle (UAV) swarms. However, limited communication…
We study how to scale distributed bandit submodular coordination under realistic communication constraints in bandwidth, data rate, and connectivity. We are motivated by multi-agent tasks of active situational awareness in unknown,…
Wireless communication environments are unaware of the ongoing data exchange efforts within them. Moreover, their effect on the communication quality is intractable in all but the simplest cases. The present work proposes a new paradigm,…
In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…
In an autonomous wireless sensor network, self-organization of the nodes is essential to achieve network wide characteristics. We believe that connectivity in wireless autonomous networks can be increased and overall average path length can…
Self-organization of a biologically motivated swarm into smaller subgroups of different velocities is found by solving a 1-dimensional adaptive-velocity swarm, in which the velocity of an agent is averaged over a finite local radius of…
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…
We propose an information transmission scheme by a swarm of anonymous oblivious mobile robots on a graph. The swarm of robots travel from a sender vertex to a receiver vertex to transmit a symbol generated at the sender. The codeword for a…
Microrobotics has the potential to revolutionize many applications including targeted material delivery, assembly, and surgery. The same properties that promise breakthrough solutions---small size and large populations---present unique…
The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower…
Swarm behaviour engineering is an area of research that seeks to investigate methods and techniques for coordinating computation and action within groups of simple agents to achieve complex global goals like pattern formation, collective…
We present Buzz, a novel programming language for heterogeneous robot swarms. Buzz advocates a compositional approach, offering primitives to define swarm behaviors both from the perspective of the single robot and of the overall swarm.…
The biologically-inspired swarm paradigm is being used to design self-organizing systems of locally interacting artificial agents. A major difficulty in designing swarms with desired characteristics is understanding the causal relation…
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…
The space communications industry is challenged to develop a technology that can deliver broadband services to user terminals equipped with miniature antennas, such as handheld devices. One potential solution to establish links with ground…