Related papers: Controlling Swarms: A Programming Paradigm with Mi…
In collective robotic systems, the automatic generation of controllers for complex tasks is still a challenging problem. Open-ended evolution of complex robot behaviors can be a possible solution whereby an intrinsic driver for pattern…
We develop distributed algorithms to allocate resources in multi-hop wireless networks with the aim of minimizing total cost. In order to observe the fundamental duplexing constraint that co-located transmitters and receivers cannot operate…
In this work, we study emergent communication through the lens of cooperative multi-agent behavior in nature. Using insights from animal communication, we propose a spectrum from low-bandwidth (e.g. pheromone trails) to high-bandwidth (e.g.…
A decentralized swarm approach for the fast cooperative flight of Unmanned Aerial Vehicles (UAVs) in feature-poor environments without any external localization and communication is introduced in this paper. A novel model of a UAV…
Unraveling the nature of the communication model that governs which two individuals in a swarm interact with each other is an important line of inquiry in the collective behavior sciences. A number of models have been proposed in the…
We consider wireless networks operating under the SINR model of interference. Nodes have limited individual knowledge and capabilities: they do not know their positions in a coordinate system in the plane, further they do not know their…
Drones which can swarm and loiter in a certain area cost hundreds of dollars, but mosquitos can do the same and are essentially worthless. To control swarms of low-cost robots, researchers may end up spending countless hours brainstorming…
Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…
The rapid development of Internet of Things (IoT) technologies has not only enabled new applications, but also presented new challenges for reliable communication with limited resources. In this work, we define a novel problem that can…
Swarm intelligence effectively optimizes complex systems across fields like engineering and healthcare, yet algorithm solutions often suffer from low reliability due to unclear configurations and hyperparameters. This study analyzes…
In this work, we analyze \textit{stochastic coverage schemes} (SCS) for robotic swarms in which the robots randomly attach to a one-dimensional boundary of interest using local communication and sensing, without relying on global position…
RoboCup represents an International testbed for advancing research in AI and robotics, focusing on a definite goal: developing a robot team that can win against the human world soccer champion team by the year 2050. To achieve this goal,…
Self-organization is the generation of order out of local interactions in non-equilibrium [1]. It is deeply connected to all fields of science from physics, chemistry to biology where functional living structures self-assemble[2] and…
Collective behavior models, such as aggregation and flocking, usually assume self-propelled robots that can directly execute their desired speed and direction of motion without fundamental constraints. However, autonomous sailing robots…
This paper introduces algorithms for target tracking in wireless sensor networks (WSNs) that enable reduction of data communication cost. The objective of the considered problem is to control movement of a mobile sink which has to reach a…
We present a set of metrics intended to supplement designer intuitions when designing swarm-robotic systems, increase accuracy in extrapolating swarm behavior from algorithmic descriptions and small test experiments, and lead to faster and…
Self-organization and control around flocks and mills is studied for second-order swarming systems involving self-propulsion and potential terms. It is shown that through the action of constrained control, is it possible to control any…
Swarms have distributed control and so are assumed to inherently have superior robustness, scalability and adaptability compared to centralised multi-agent systems. However, these features have generally only been defined qualitatively and…
Swarms of unmanned aerial vehicles (UAVs) are increasingly becoming vital to our society, undertaking tasks such as search and rescue, surveillance and delivery. A special variant of Distributed Model Predictive Control (DMPC) has emerged…